Hypertherm Automation Family Application Note

Delta EtherCAT® Drives Supported by

®

EDGE

Connect/T/TC CNCs

Application Note

809770 | Revision 7 | July 2023

Hypertherm, Inc.

21 Great Hollow Road, P.O. Box 5010
Hanover, NH 03755 USA
603-643-3441 Tel (Main Office)
603-643-5352 Fax (All Departments)
[e-mail] (Main Office)

800-643-9878 Tel (Technical Service)

[e-mail] (Technical Service)

800-737-2978 Tel (Customer Service)

[e-mail] (Customer Service)

Hypertherm México, S.A. de C.V.

52 55 5681 8109 Tel
52 55 5681 7978 Tel
[e-mail] (Technical Service)

Hypertherm Plasmatechnik GmbH

Sophie-Scholl-Platz 5
63452 Hanau
Germany
00 800 33 24 97 37 Tel
00 800 49 73 73 29 Fax

31 (0) 165 596900 Tel (Technical Service)
00 800 4973 7843 Tel (Technical Service)

[e-mail] (Technical Service)

Hypertherm (Singapore) Pte Ltd.

Solaris @ Kallang 164
164 Kallang Way #03-13
Singapore 349248, Republic of Singapore
65 6841 2489 Tel
65 6841 2490 Fax
[e-mail] (Marketing)
[e-mail] (Technical Service)

Hypertherm Japan Ltd.

Level 9, Edobori Center Building
2-1-1 Edobori, Nishi-ku
Osaka 550-0002 Japan
81 6 6225 1183 Tel
81 6 6225 1184 Fax
[e-mail] (Main Office)
[e-mail] (Technical Service)

Hypertherm Europe B.V.

Laan van Kopenhagen 100
3317 DM Dordrecht
Nederland
31 165 596907 Tel
31 165 596901 Fax
31 165 596908 Tel (Marketing)

31 (0) 165 596900 Tel (Technical Service)
00 800 4973 7843 Tel (Technical Service)

[e-mail] (Technical Service)

Hypertherm (Shanghai) Trading Co., Ltd.

B301, 495 ShangZhong Road
Shanghai, 200231
PR China
86-21-80231122 Tel
86-21-80231120 Fax

86-21-80231128 Tel (Technical Service)

[e-mail] (Technical Service)

South America & Central America: Hypertherm Brasil Ltda.

Rua Bras Cubas, 231 – Jardim Maia
Guarulhos, SP – Brasil
CEP 07115-030
55 11 2409 2636 Tel
[e-mail] (Technical Service)

Hypertherm Korea Branch

#3904. APEC-ro 17. Heaundae-gu. Busan.
Korea 48060
82 (0)51 747 0358 Tel
82 (0)51 701 0358 Fax
[e-mail] (Marketing)
[e-mail] (Technical Service)

Hypertherm Pty Limited

GPO Box 4836
Sydney NSW 2001, Australia
61 7 3103 1695 Tel
61 7 3219 9010 Fax
[e-mail] (Main Office)
[e-mail] (Technical Service)

Hypertherm (India) Thermal Cutting Pvt. Ltd

A-18 / B-1 Extension,
Mohan Co-Operative Industrial Estate,
Mathura Road, New Delhi 110044, India
91-11-40521201/ 2/ 3 Tel
91-11 40521204 Fax
[e-mail] (Main Office)
[e-mail] (Technical Service)

© 2023 Hypertherm, Inc. All rights reserved. 100% Associate-owned.

EDGE, Phoenix, and Hypertherm are trademarks of Hypertherm, Inc. and may be registered in the United States and/or other countries. EtherCAT is a
trademark of Beckhoff Automation. All other trademarks are the property of their respective holders.

Environmental stewardship is one of Hypertherm’s core values.www.hypertherm.com/environment

Introduction

The information that follows is given to Hypertherm channel partners for reference only, to help you
select and configure an EtherCAT drive that is supported by EDGE Connect CNCs.

Work in partnership with your drive manufacturer to select and configure the drives for your cutting
system. Refer to your drive manufacturer’s drive documentation for technical information about the
drives. Make sure to follow the guidelines and instructions supplied by the drive manufacturer.

When possible, the information that follows is given to support integration of the drives with the
cutting system and the CNC.

 Drive model supported

 Firmware revision supported

 Example drive amplifier file

 Setup and parameter notes

Setup files and parameters from Hypertherm can be used for the initial machine setup. We expect
these files and parameters to be modified by the installer for the cutting system configuration and
necessary performance.

Supported Delta EtherCAT Drives

Supported Delta drives

Series Model Firmware Notes

ASDA-A2 ASDA-A2-E series

(with
ASD-A2-XXXX-E part
numbers)

ASDA-B3 ASD-B3-XXXX-E Firmware version 1.0533 or

ASDA-B3A ASD-B3A-XXXX-E Firmware version 1.0533 or

1.643.366 and newer.
Required for using
parameters to change motor
direction.

newer.

newer.

• Use firmware for ASDA drives only.

• 7 digital inputs per drive amplifier are

• CNC control of the drive’s digital outputs

• Only use drives manufactured after April

• Use firmware for ASDA drives only.

• 4 digital inputs per drive amplifier are

• CNC control of the drive’s digital outputs

• Use firmware for ASDA drives only.

• 4 digital inputs per drive amplifier are

• CNC control of the drive’s digital outputs

supported.

is not supported.

20, 2018 with cutting systems in
environments with potential high
frequency. See Figure 1 on page 4 for
information about the date code.

supported.

is not supported.

supported.

is not supported.

EDGE Connect Application Note 809770 3

Supported Delta EtherCAT Drives

Delta has made improvements to drives manufactured after April 20, 2018



to make newer drives more robust to EMI and RF. The manufacture date
can be identified by the date code on the drive. The date code should be
greater than 1816 (18 is the code for 2018 and 16 is the code for week

16). See the example shown in Figure 1 below.

Figure 1 – Example Delta AC servo drive data plate

 To check a drive’s firmware version, use the ASDA-Soft drive software provided by Delta.

 Mixing different brands of drives in one system is not supported.

 All drives must support and be configured for a 1 ms update rate.

 The need for more I/O depends on the total number of I/O and the I/O style required. For a

®

list of supported I/O modules, see the EtherCAT

®

EDGE

at www.hypertherm.com/docs

Connect CNCs Application Note (809660). Technical documentation is available

.

Drives and I/O Modules Supported by

4 809770 Application Note EDGE Connect

Setup and parameters

This section helps with setting up the drive parameters. Work in partnership with your drive
manufacturer to set up the drives for your cutting system. Refer to your drive manufacturer’s drive
documentation for more technical information about the drives.

Also refer to the following sections of the EDGE® Connect Installation and Setup Manual
(809340).

 Section 3: Machine stop strategies and table hardware, for information about:

 How the CNC enables and disables the drives, and stops motion

 Drive enable signals

 Drive Enable output and Drive Disabled input

 Overtravel limits

 Safety circuit

 Section 5: Machine Axes, for information about:

Supported Delta EtherCAT Drives

 Axis orientation and positive motion

 Axis assignment and setup

 Section 7: I/O – Inputs and Outputs, for information about:

 How Phoenix® assigns I/O

 Digital I/O and assignment

 Analog I/O and assignment

Technical documentation is available at www.hypertherm.com/docs.

Drive setup overview

From a high level, the process of setting up your drives is as follows.

1. Make sure that the correct firmware is installed. If an update is needed, contact the drive
manufacturer. Hypertherm is not currently providing firmware updates.

2. Set up the drive parameters per the drive manufacturer’s instructions.

3. Make sure the drives are communicating on the network.

Make sure you can remove power, including control (logic) power, from all



drives. Refer to your drive manufacturer’s drive documentation for more
information.

All drives must be set up as linear axes.



All drives must support and be configured for a 1 ms update rate.



EDGE Connect Application Note 809770 5

Supported Delta EtherCAT Drives

Parameters in ASDA-Soft

Set/verify the following settings using the Delta ASDA-Soft software.

Tabl e 1 – Parameters supported with Delta’s ASDA-A2 drive series

Parameter Value

P1-01 Input Setting of Control Mode EtherCAT 0x000C

P2-10 DI1 Functional Planning Disabled 0x0100

P2-11 DI2 Functional Planning Disabled 0x0100

P2-12 DI3 Functional Planning Disabled 0x0100

P2-13 DI4 Functional Planning Disabled 0x0100

P2-14 DI5 Functional Planning Disabled 0x0100

P2-15 DI6 Functional Planning Disabled 0x0100

P2-16 DI7 Functional Planning Disabled 0x0100

P3-18 EtherCAT Special Function Switch 0x1000

Table 2 – Parameters supported with Delta’s ASDA-B3 and ASDA-B3A drive series

Parameter Value

P1.01 Input Setting of Control Mode EtherCAT 0x000C

P2.10 DI1 Functional Planning Disabled 0x0100

P2.11 DI2 Functional Planning Disabled 0x0100

P2.12 DI3 Functional Planning Disabled 0x0100

P2.13 DI4 Functional Planning Disabled 0x0100

P3.18 EtherCAT Special Function Switch 0x1000

6 809770 Application Note EDGE Connect

Parameters for changing motor direction

To set drive direction, refer to the user manual provided by Delta. The information below is provided
by Hypertherm for reference only.

ASDA-A2

For ASDA-A2-E Delta drive models, firmware version 1.643.366 and newer is required for using
parameters to change motor direction.

For clockwise motor direction

Parameter Value

P1-01 010C

P3-12 0100

For counterclockwise motor direction

Parameter Value

P1-01 000C

Supported Delta EtherCAT Drives

P3-12 0000

ASDA-B3 and ASDA-B3A

For ASD-B3-XXXX-E and ASD-B3A-XXXX-E Delta drive models, use the following parameters to
change motor direction.

For clockwise motor direction

Parameter Value

P1.001 010C

For counterclockwise motor direction

Parameter Value

P1.001 000C

EDGE Connect Application Note 809770 7

Supported Delta EtherCAT Drives

Drive inputs and outputs

Drive inputs

Set up the drive inputs and outputs as described in the Delta Servo Drive User Manual. On the
initial install, the default values will be set as follows:

 A2 drives: DI1-DI7

 B3 drives: DI11-DI14

ASDA-A2

Phoenix maps 7 digital inputs for the ASDA-A2-E drive models.

Digital inputs Description

DI1 CN1-7

DI2 CN1-8

DI3 CN1-9

DI4 CN1-10

DI5 CN1-11

DI6 CN1-12

DI7 CN1-13

ASDA-B3 and ASDA-B3A

Phoenix maps 4 digital inputs for ASD-B3-XXXX-E and ASD-B3A-XXXX-E drive models.

Digital inputs Description

DI11 CN6

DI12 CN7

DI13 CN8

DI14 CN9

8 809770 Application Note EDGE Connect

Supported encoder counts

Phoenix does not support the EU numbering format of using decimal points (periods) as numerical
separators. Using decimal points as numerical separators will result in incorrect settings.

Example:

 Correct – 200,000.00 = Two hundred thousand

 Incorrect – 200.000,00 = Two hundred

Supported encoder counts per

Drive model

ASDA-A2-E 1.280.000 (1,280,000)

ASD-B3-XXXX-E 16.777.216 (16,777,216)

ASD-B3A-XXXX-E 16.777.216 (16,777,216)

revolution

Supported Delta EtherCAT Drives

The CNC has a maximum encoder input rate of 32.767 counts per millisecond – metric (32,767
counts per millisecond – English).

The OEM or system integrator must set the drive’s encoder scaling parameter, so that the
CNC’s maximum encoder input rate is not exceeded at the table’s designed maximum
speed.

Parameter Value

0x6093:1 Electronic Gear Ratio Numerator Set by the OEM or system

integrator.*

0x6093:2 Electronic Gear Ratio Denominator Set by the OEM or system

integrator.*

* In Phoenix 10.21 and earlier, the default Electronic Gear Ratio numerator is set to 0x04 by

the Hypertherm EtherCAT slave information (ESI) and cannot be changed. With an Electronic
Gear Ratio of 4, there are 320.000 counts per revolution – metric (320,000 counts per
revolution – Imperial) available over the EtherCAT network. Use this value to calculate encoder
counts per mm (inch) and maximum machine speed.

EDGE Connect Application Note 809770 9

Supported Delta EtherCAT Drives

Encoder counts per mm (inch)

Linear axis example – Metric

In this example the linear axis has the following machine characteristics.

 Gear box ratio: 5:1

 Lead screw pitch: 150 mm/revolution

Use these values with the following formula to calculate encoder counts per mm, as shown.

320.000

encoder counts motor revolutions pinion revolution

11150 mm

motor revolution pinion revolution (pitch)

X

5

X

1

=

Linear axis example – English

In this example the linear axis has the following machine characteristics.

 Gear box ratio: 5:1

 Lead screw pitch: 5.91 inch/revolution

Use these values with the following formula to calculate encoder counts per mm, as shown.

320,000

encoder counts motor revolutions pinion revolution

11

motor revolution pinion revolution (pitch)

X

5

X

1

5.91 inch

=

10.6 66 ,67

encoder counts

per mm

270,727.58

encoder counts

per inch

10 809770 Application Note ED GE Connect

Maximum machine speed per minute

There is a limit to the maximum encoder feedback on the EDGE Connect. The CNC’s maximum
encoder input rate is 32.767 counts per millisecond – metric (32,767 counts per millisecond –
English). The drive’s encoder scaling parameter needs to be adjusted, so that the CNC’s maximum
encoder input rate is not exceeded at the table’s designed maximum speed. Use the calculated
encoder counts from the example on
machine speed.

Metric example:

Supported Delta EtherCAT Drives

page 10 with the following formula to calculate the maximum

32.767

(Maximum encoder counts per ms) (ms per minute)

10.666,67 encoder counts per mm

X

English example:

32,767

(Maximum encoder counts per ms) (ms per minute)

270,727.58 encoder counts per inch

X

60.000

60.000

184.314,32 mm/min

Maximum machine speed

=

7,261.99 in./min

Maximum machine speed

=

EDGE Connect Application Note 809770 11