Torque (T) Control Mode - Delta ASDA-A3 Series User Manual

Wiring

3.13.5 Torque (T) control mode

3
Shielded
twisted-pair
24V
Encoder
pulse
output
Note:
*1. Refer to Section 3.4.1.3 for wiring diagrams C7 SINK / C8 SOURCE.
*2. Only models of 1.5 kW and below have built-in regenerative resistors.
*3. The brake coil has no polarity.
*4. Connects to the Mini-USB connector (for PC communication).
*5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring
instructions of third-party motors.
3-156
MCCB
MC
AC 380 / 480V
Three-phase
50 / 60 Hz
DC 24V
Power Supply
T-REF
±
10V
10KΩ
GND
MON1
10KΩ
GND
10KΩ
cable
MON2
COM+
SON DI1
SPDLM
DI2
TCM0 DI3
DI4
TCM1
ARST DI5
NL DI6
PL DI7
EMGS DI8
DI9
DI10
DO1+
SRDY
1.5KΩ
DO1-
DO2+
ZSPD 1.5KΩ
DO2-
DO3+
TSPD
1.5KΩ
DO3-
DO4+
TPOS
1.5KΩ
DO4-
DO5+
ALRM
1.5KΩ
DO5-
DO6+
1.5KΩ
DO6-
OA
A phase
differential signals
/OA
OB
B phase
differential signals
/OB
OZ
Z phase
differential signals
/OZ
Z phase
OCZ
open-collector
GND
signals
STO (certification
A3-M
application in progress)
-
-
SF1+
SF1-
SF2+
SF2-
EDM+
EDM-
Servo drive
A3-L / A3-M Series
R
S
T
24V
0V
P1
P2
1.2KΩ
CN1
18
12KΩ
19
16
13
15
11
＊ 1
4.7KΩ
9
4.7KΩ
10
4.7KΩ
34
4.7KΩ
8
4.7KΩ
33
4.7KΩ
32
4.7KΩ
31
4.7KΩ
30
4.7KΩ
29
4.7KΩ
38
7
6
5
4
3
2
1
26
28
27
46
40
21
22
25
23
50
24
48
44
Max. output current: 50 mA
voltage: 30V
CN10
1
2
3
4
5
6
7
8
＊2
P3
Regenerative
D
resistor
C
Red
U
White
V
Black
W
BRKR EMGS
Yellow /
24V
＊3
Green
CN2 ＊5
1 +5V
2 GND
Do not conne ct
3
this pin
Do not conne ct
4
this pin
5 T+
SG
twisted-pair
6 T-
Shield
Case
CN3 A3-M
6,8 -
5 RS485+
4 RS485-
3,7
GND_ISO
2 CAN_L
CAN_H
1
14,16
-
13 RS485+
RS485-
12
11,15 GND_ISO
10 CAN_L
9 CAN_H
A3-L
CN3
6,8
-
5 RS485+
4 RS485-
3,7
GND_ISO
2 -
-
1
CN4
＊4
Mini USB
CN5
8 +5 V
4 Opt A
5 Opt /A
3 Opt B
2 Opt /B
9 Opt Z
1 Opt /Z
6 GND
7 GND
10 HALL_U
11 HALL_V
12 HALL_W
13 TEMP+
14 TEMP-
15
-
Case Shielding
ASDA-A3
Power
supply
Brake
Encoder
Shielded
cable