Torque Control Mode - Delta ASDA-A2 User Manual

Delta high resolution ac servo drive for network communication applications
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Chapter 3 Wiring

3.12.4 Torque Control Mode

MCCB
AC 200/230 V
Three-phase
*6
50/60Hz
±
10V
10KΩ
±
10V
10KΩ
Twisted-pair or
10KΩ
twisted-shield
10KΩ
cable
SG
SON
SPDLM
TCM0
TCM1
ARST
CWL
CCWL
EMGS
SRDY
1.5KΩ
ZSPD
1.5KΩ
24V
TSPD
1.5KΩ
BRKR
1.5KΩ
1.5KΩ
ALRM
A phase pulse
B phase pulse
Encoder
Pulse
Z phase pulse
Output
Z phase open
collector
3-68
Servo Drive
ASDA-A2 series
MC
R
S
T
L1c
L2c
CN1
10KΩ
V-REF
42
10KΩ
GND
44
10KΩ
T-REF
18
10KΩ
GND
13
MON1
16
GND
12,13,19
DC 24V
MON2
15
VDD
17
COM+
11
COM-
45,47,49
*1
DI1
9
4.7KΩ
DI2
10
4.7KΩ
DI3
34
4.7KΩ
4.7KΩ
DI4
8
4.7KΩ
DI5
33
4.7KΩ
DI6
32
4.7KΩ
DI7
31
4.7KΩ
DI8
30
DO1+
7
DO1-
6
DO2+
5
DO2-
4
DO3+
3
DO3-
2
DO4+
1
DO4-
26
DO5+
28
27
DO5-
OA
21
/OA
22
OB
25
/OB
23
OZ
50
/OZ
24
OCZ
48
GND
13
Max. output
current 50mA
voltage 30V
*2
P
Regenerative
D
Resistor
C
Red
U
White
V
Black
W
EMGS
Green
24V
CN2
5
T+
Blue
4
T-
Blue/Black
-
-
7
-
-
9
Red/Red &
14,16
+5V
White
Black/Black &
13,15
GND
White
CN3
6
RS485-
5
RS485+
4
RS232_RX
3
-
2
RS232_TX
1
GND
CN7
*4
1
COM+
4.7KΩ
2
EDI9-
4.7KΩ
3
EDI10-
4.7KΩ
4
EDI11-
4.7KΩ
5
EDI12-
4.7KΩ
6
EDI13-
4.7KΩ
7
EDI14-
CN4
*5
1
+5V DC
2
Data-
3
Data+
4
GND
CN5
8
+5V
Please note:
4
Opt A
*1
Please refer to C9 ~ C12 wiring
5
Opt /A
diagrams (SINK / SOURCE mode)
3
Opt B
in section 3.4.3.
2
Opt /B
*2
400W and below drives do not
9
Opt Z
provide built-in regenerative
1
Opt /Z
resistor.
6
GND
*3
The coil of brake has no polarity.
7
GND
*4
For extension digital inputs (DI)
CN6 CANopen
connections (CN7 is an optional
1,9
CAN H
part, not Delta standard supplied
2,10
CAN L
part.).
3,11
CAN GND
*5
For USB connection. It is used to
4,12
-
connect to personal computer or
5,13
-
6,14
-
notebook.
7,15
CAN GND
*6
Single -phase connections are for
8,16
-
servo drives 1.5kW and below
only.
ASDA-A2
Power Supply
BRKR
Brake
*3
Encoder
Twisted-pair or
SG
twisted-shield
cable
Revision February, 2017

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