Torque Control Mode - Delta ASD-A2-0121 Series User Manual

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
3-74
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
DI4 8 4.7KΩ
DI5 33 4.7KΩ
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/
14,16
+5V
Red & White
Black/
13,15
GND
Black & White
CN3
6
RS485-
5 RS485+
4
RS232_RX
3 -
2
RS232_TX
1 GND
CN7
1
＊4
COM+
4.7KΩ
2 EDI9-
4.7KΩ
3 EDI10-
4.7KΩ
4 EDI11-
4.7KΩ 5 EDI12-
4.7KΩ 6 EDI13-
7 EDI14-
4.7KΩ
CN4
1 +5V DC ＊5
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) in
3 Opt B
section 3.4.3.
2
Opt /B
*2 400 W and below drives do not
9 Opt Z
provide built-in regenerative resistor.
1 Opt /Z
*3 The coil of brake has no polarity.
6 GND
*4 For expansion digital inputs (DI)
7 GND
connections (CN7 is an optional part,
CN6 CANopen
not Delta standard supplied part.).
1,9
CAN H
*5 For USB connection. It is used to
2,10 CAN L
connect to personal computer or
3,11 CAN GND
4,12 - notebook.
5,13 - *6 Single -phase connections are for
6,14 -
servo drives 1.5 kW and below only.
7,15 CAN GND
8,16 -
ASDA-A2
Power Supply
BRKR
Brake
＊3
Encoder
Twisted-pair or
SG
twisted-shield
cable