Delta Ia-Asd Asda-A2-e Um en 20210205

ASDA A2-E EtherCAT Interface Servo Drive User Manual
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ASDA A2-E EtherCAT

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Interface Servo Drive
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DELTA_IA-ASD_ASDA-A2-E_UM_EN_20210205
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 ............................................................................................... 1-5
1.5 Wiring .......................................................................................................... 1-6
1.5.1 Explanation of I/O (CN1) Connector Signal ............................................ 1-7
1.5.2 CN2 Connector....................................................................................... 1-8
1.5.3 CN5 Connector (Full-closed Loop) ......................................................... 1-9
1.5.4 CN6 EtherCAT Terminal......................................................................... 1-10
1.5.5 CN7 Extension DI ................................................................................... 1-11
1.5.6 CN-STO.................................................................................................. 1-12
1.5.7 STO with Safety Relay ........................................................................... 1-13
1.5.8 Disable STO ........................................................................................... 1-14
1.6 Dimensions .................................................................................................. 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
i
ASDA A2-E Table of Contents
2.3.1 Two Synchronization Modes of Delta Servo Drive ................................. 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 Switching 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
5.3 Cyclic Synchronous Position Mode.............................................................. 5-6
5.3.1 Description ............................................................................................. 5-6
ii
Table of Contents ASDA A2-E
5.3.2 The Function of CSP Mode .................................................................... 5-6
5.4 Homing Mode .............................................................................................. 5-8
5.4.1 Description ............................................................................................. 5-8
5.5 Profile Velocity Mode ................................................................................... 5-10
5.5.1 Description ............................................................................................. 5-10
5.6 Cyclic Synchronous Velocity Mode .............................................................. 5-12
5.6.1 Description ............................................................................................. 5-12
5.6.2 The Function of CSV Mode .................................................................... 5-12
5.7 Profile Torque Mode .................................................................................... 5-14
5.7.1 Description ............................................................................................. 5-14
5.8 Cyclic Synchronous Torque Mode ............................................................... 5-16
5.8.1 Description ............................................................................................. 5-16
5.8.2 The Function of CST Mode .................................................................... 5-16
iii
5.9 Limit Position Handling Procedure ............................................................... 5-18
5.9.1 Description ............................................................................................. 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
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 ................................................................. 6-1
6.3 Overview of Object Group 6000h ................................................................. 6-2
6.4 Details of Objects......................................................................................... 6-5
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
iv
Table of Contents ASDA A2-E
Chapter 8 Parameters................................................................................................ 8-1
Chapter 9 Alarm List.................................................................................................. 9-1
9.1 EtherCAT Communication Fault Messages ................................................. 9-1
9.2 Error Code Table ......................................................................................... 9-4
9.3 SDO Error Message Abort Codes................................................................ 9-7
Chapter 10 Reference ................................................................................................ 10-1
v
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vi
Chapter 1 CoE Drive Overview
1.1 Communication Specification
Physical layer 100BASE-TX

Communication
RJ45 × 2 (Connector CN6A = input, CN6B = output)
connector
Network topology Line connection
Baud rate 2 x 100 Mbps (full duplex)
Frame data length Maximum 1484 bytes
SM0: Mailbox output
SM1: Mailbox input
SyncManager
SM2: Process data output
SM3: Process data input
FMMU FMMU0: Process data output area

EtherCAT (Fieldbus Memory FMMU1: Process data input area
Management Units) FMMU2: Mailbox status area
Communication
Device profile CoE: CANopen over EtherCAT
Synchronization DC synchronization (SYNC0)
mode Non-synchronized (Free Run)
SDO: Service Data Object
Communication
PDO: Process Data Object
object
EMCY: Emergency Data Object
LED indicator EtherCAT ERR (ER) × 1
(On RJ45 EtherCAT Link/Activity (L/A) × 2
connector) EtherCAT RUN (RN) × 1
Application layer
IEC61800-7 CiA402 Drive Profile
specifications
Profile Position Mode (PP)

Profile Velocity Mode (PV)
Profile Torque Mode (PT)
The supported CiA402 operation Homing Mode (HM)
modes Interpolated Position Mode (IP)
Cycle Synchronized Position Mode (CSP)
Cycle Synchronized Velocity Mode (CSV)
Cycle Synchronized Torque Mode (CST)
1-1
ASDA A2-E Chapter 1 Coe Drive Overview
1.2 The Interface of Delta EtherCAT Servo Drive
Link/Activity of EtherCAT
input port indicator (L/A)
EtherCAT input port

Run indicator (RUN) (CN6)
Link/Activity of EtherCAT
EtherCAT output
output port indicator (L/A) port (CN6)
Error indicator (ERR)
Figure 1 The Interface of Delta EtherCAT Servo Drive
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff

Automation GmbH, Germany.
1-2
Chapter 1 CoE Drive Overview ASDA A2-E
1.3 LED Indicators
Indicator
Indicator pattern
state
ON
ON
OFF
ON
Blinking
200ms 200ms
OFF
Single ON
Flash 200ms 1000ms
OFF
ON
OFF
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
Synchronization error
Single Flash
SyncManager error
On PDI Watchdog timeout
The state machine does not allow the system to change its state
State change error because of 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.
The hardware failure on slave. Please contact Delta distributors for
PDI Watchdog timeout
assistance.
1-3
RUN LED
The RUN LED indicator shows the status of EtherCAT state machine.

Off INIT (Initialization)
Blinking Pre-Operational
Single Flash Safe-Operational
On Operational
After power on, the EtherCAT slave will get into INIT state if
there is no error. At INIT state, no communication servo is
INIT (Initialization)
provided. Accessing the slave’s register from the host is
available at this state.
Pre-Operational The SDO can be used to communicate with its host controller.
Both SDO and TxPDO, which can send cyclic data from the
Safe-Operational
slave to the host, are workable.
Operational SDO, TxPDO, and RxPDO are working.
Link Activity (L/A) LED
The L/A LED indicator shows the physical link status and the link activity.

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.
1-4
1.4 The Topology
The topology is defined by the host controller. 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
1-5
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) points and 7 programmable Digital Input (DI) points are provided,
which are parameters P2-18 ~ P2-21 and P2-10 ~ P2-16 respectively. In addition, the
differential type encoder signals A+, A-, B+, B-, Z+, and Z- are also provided. The
followings are the pin diagrams.
CN1 Connector (male)

CN1 Connector (female)
rear view
Digital VDD power

1 DO1+ 14 COM-
output ground
Digital
2 DO1- 15 NC N/A
output Analog
Digital
3 DO2+ 16 GND input signal
output Encoder/
Digital ground
4 DO2- 17 OA A pulse
output Encoder/
+24V Power output
5 VDD 18 /OA A pulse
output Encoder/
Power input output
6 COM+ 19 OB B pulse
(12~24V） Encoder/
output
7 DI1- Digital input 20 /OB B pulse
Encoder/ output
8 DI2- Digital input 21 OZ Z pulse
Encoder/
output
9 DI3- Digital input 22 /OZ Z pulse
Digital output
10 DI4- Digital input 23 DO4+
output
Digital
11 DI5- Digital input 24 DO4-
output
Digital
12 DI6- Digital input 25 DO3+
output
Digital
13 DI7- Digital input 26 DO3-
output
Note: NC means “No connection.” This terminal is for internal use only. Do not connect it, or it may damage
the servo drive.
1-6
1.5.1 Explanation of I/O (CN1) Connector Signal

The following details the signals listed in the previous section.
General signals:
Wiring
Method
Signal Name Pin No. Function (Refer to
3.4.3)
OA 17
/OA 18
Position OB 19
pulse Encoder signal output A, B, Z (Line Driver output) C13/C14
(output) /OB 20
OZ 21
/OZ 22
VDD is the +24V power provided by the drive and

is for Digital Input (DI) and Digital Output (DO)
VDD 5
signals. The maximum permissible current is
500 mA.
COM+ is the common voltage input for Digital

Power COM+ 6 Input (DI) and Digital Output (DO). When using
VDD, connect VDD to COM+. If not using, apply
-
the external power (+12V ~ +24V) to the drive. Its
COM- 14 positive end should connect to COM+ and the
negative end should connect to COM-.
GND 16 VCC voltage is based on GND.
No connection. This terminal is for internal use

Other NC 15 only. Do not connect it, or it may damage the
servo drive.
1-7
1.5.2 CN2 Connector

Rear view
Quick Connector Military Connector

HOUSING: AMP(1-172161-9) 3106A-20-29S
Drive Connector Motor Connector
Terminal Military Quick

Pin No. Function and Description Color
Symbol connector connector
Serial communication signal

5 T+ A 1 Blue
input / output (+)
Serial communication signal Blue &

4 T- B 4
input / output (-) Black
- - Reserved - - -
- - Reserved - - -
Red / Red &

14,16 +5V Power +5V S 7
white
Black /
13,15 GND Power ground R 8 Black &
white
- - Shielding L 9 -
1-8
1.5.3 CN5 Connector (Full-closed Loop)

Connect the 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. Refer to Chapter 5.
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 AB phase signals and the encoder of 5V.

2. The application of full-closed loop: it supports the encoder of highest resolution 1280000 pulse/rev
(the pulse number per motor revolution for a full-closed loop that corresponds to an optical signal
with AB (Quadrature) phase pulses (4x).).
1-9
1.5.4 CN6 EtherCAT Terminal
IN
OUT

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.
1-10
1.5.5 CN7 Extension DI
VDD VDD (24V) power is the same as

*1 COM+
24V power the voltage of Pin 11 in CN1
2 Extension DI9 EDI 9- Digital input pin 9-
 Caution: do not apply to dual power or it may damage the servo drive.
1-11
1.5.6 CN-STO
CN-STO Connector (male)
VDD VDD (24V) power is the same

*1 COM+
24V power as the voltage of Pin11 in CN1
2 STO_A STO_A STO input pin A+
3 /STO_A /STO_A STO input pin A-
4 STO_B STO_B STO input pin B+
5 /STO_B /STO_B STO input pin B-
STO alarm output pin A,

6 FDBK_A FDBK_A
Relay max. output current: 1 A
STO alarm output pin B,

7 FDBK_B FDBK_B
Relay max. output current: 1 A
8 COM- COM- VDD (24V) power ground
 Caution: do not apply to dual power or it may damage the servo drive.
1-12
1.5.7 STO with Safety Relay
STO
1 COM+
ESTOP
24V DC 2 STO_A
3
/ STO_A
Safety Relay
4 STO_B
5
/ STO_B
6 FDBK_A
7
FDBK_B
8 COM-
1-13
1.5.8 Disable STO
STO
1 COM+
2 STO_A
3
/ STO_A
4 STO_B
5
/ STO_B
6 FDBK_A
7
FDBK_B
8 COM-
1-14
1.6 Dimensions
1.6.1 220V Series
100 W / 200 W / 400 W

5.5(0.22)
45(1.77) 0) 70(2.76) 170(6.69)

0.2
.2 (
Ø5
SCREW: M4×0.7
MOUNTING SCREW TORQUE:14(kgf-cm)
163(6.42)
173(6.81)
Weight 1.5 kg (3.3 lbs)

12(0.47) 27.5(1.08)
750 W / 1 kW / 1.5 kW
7)
5.4(0.21)
1
.2
(0
65(2.56)
.5
70(2.76) 180(7.09)
Ø5
SCREW: M4×0.7
163(6.42)
173(6.81)
12.5(0.49) 47(1.85)
1-15
2 kW / 3 kW
70 203
.5
82 < 0.7
Ø5
5.4
SCREW: M4×0.7
203.0
215.5
PE
14.5 62
TERMINIAL
1-16
1.6.2 400V Series
400 W / 750 W / 1 kW / 1.5 kW
65 .5
Ø5 70 180
5.4
SCREW: M4×0.7
173
163
12.5 47 Weight 2.0 kg (4.4 lbs)
2 kW / 3 kW / 4.5 kW / 5.5 kW
123.5
Ø6 107 8 70.2 205.5
SCREW: M4×0.7
230
245

7
107
1-17
7.5 kW
136
Ø6 119.5 8 70.2 205.5
SCREW: M4×0.7
254.2
232
245
260
247

107 PE TERMINAL
5
Note:
1. Dimensions are in millimeters.
2. Dimensions and weights of the servo drive may be revised without prior notice.
1-18
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.
Address：0102H
P1-01● CTL Control Mode and Input Direction
0103H
Interface： Panel / Software Communication Reference： -
Default： 0x0Ch Control Mode： ALL
Unit： Pulse (P mode); r/min (S mode); Range： 00 ~ 0x110F

N-m (T mode)
Format： Hex Data Size： 16-bit
Settings：
Control mode settings

Torque output direction settings
Individual I/O Setting
not used
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 ▲ ▲ ▲
2-1
ASDA A2-E Chapter 2 System Setup
PR: Position control mode. The command is from the internal signal. Execution of 64 positions
is via DI.POS0 ~ POS5. A variety of homing methods are 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: you can switch the control mode with DI signals. For example, you can switch to
PT-S control mode with DI.S-P.
Multiple Mode: you can switch the control mode with DI signals. For example, you can switch
to PT-PR-S control mode with DI.S-P and DI.PT-PR.
Torque output direction settings:
Direction 0 1
Forward
Reverse
Note: when P1-01 = 0xC, you need to set P3-12.Z to 1 to control the torque output direction with
parameters, or the direction setting in the parameters is not effective.
Individual I/O settings:

1: when you switch to a different mode, digital inputs/outputs (P2-10 ~ P2-22) will be set to the
default value according to the mode you selected.
0: when you switch to a different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-
22) will remain the same and will not be changed.
2-2
Chapter 2 System Setup ASDA A2-E
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 where the TwinCAT is installed (usually
C:\TwinCAT\Io\EtherCAT).
2. Restart the TwinCAT.
3. The configuration procedure can be started by applying TwinCAT manager which is

shown as below.
Figure 4
2-3
4. Install the Network Interface Card (NIC) for EtherCAT communication.
 Select [Options] > [Show Real Time Ethernet Compatible Devices...].
Figure 5
 Select the correct Adapter from the devices (NICs) installed in the computer
for EtherCAT communication and click Install.
Figure 6
2-4
5. Select [File] > [New] from the drop-down list to create a new project.
6. Right-click [I/O Devices], and select [Scan Devices…] or press F5 to scan the
devices. Click OK (確定) in the pop-up window to proceed to the next step.
Figure 7
Figure 8
7. Select Device [n] (EtherCAT) and click OK.
Figure 9
8. Click Yes (是) to scan for the control boxes.
Figure 10
2-5
9. Click Yes (是) to add drives to NC-Configuration.
Figure 11
10. Click No (否) and TwinCAT will be switched to Config mode.
Figure 12
11. TwinCAT is in Config Mode. The window on the left shows Device 3 (EtherCAT)
and Drive 1 (ASDA A2-E CoE Drive).
Figure 13
2-6
12. Select [Drive 1 (ASDA A2-E CoE Drive)] and in the Online tab you can check if the
EtherCAT state machine (ESM) of the device is in PREOP state.
Figure 14
13. Double-click on [Drive 1 (ASDA A2-E CoE Drive)] and it will show:
2nd TxPDO Mapping
3rd RxPDO Mapping
WcState
InfoData
Figure 15
2-7
14. Set the communication cycle time* and the default value is 2 ms.
 Select [NC-Task 1 SAF] in the left window, and set the communication cycle
time (the minimum value is 1 ms) for Cycle ticks in the right window.
Figure 16
*The communication cycle time, SYNC0 cycle time, and PDO cycle time should be set to the same
value.
15. Set Following Error Calculation to Extern.
 Select [Axis 1_Drive] in the left window > in the Parameter tab of the right
window, select Extern for Following Error Calculation > click Download and
then click OK in the pop-up window.
Figure 17
2-8
16. Switch TwinCAT to Run Mode.
 Press to generate Mappings, press to confirm the configuration,

press to activate the configuration, and then TwinCAT will be switched to
Run Mode. Click OK in the pop-up window.
Figure 18
17. Enable the axis (Servo On).
 Under [NC-Configuration] in the left window, select [Axis 1] > select the
Online tab in the right window > click Set.
Figure 19
 In the pop-up window, click All to enable the motor.
Figure 20
2-9
18. In the Online tab, there are jogging buttons with two different speed levels for
forward and backward movement which can be used to test the system. During the
operation, please ensure that the movement would not damage your system and
endanger the personnel safety.
Figure 21
2-10
2.3 Synchronization Modes Setting
2.3.1 Two Synchronization Modes of Delta Servo Drive

ASDA A2-E supports two synchronization modes, Free Run mode and DC-
Synchronous mode. Note that the asynchronous Free Run mode is still under the
definition of “Synchronization Modes” within EtherCAT specification guide.
 Free Run Mode (Asynchronous)
The master and slaves are running in an asynchronous manner. The master and
the slave both have their own clock to calculate the time. In other words, clocks of
the master and the slave are not synchronized. The command and feedback
transmission between the master and slave is based on a sequential order instead
of the synchronized timing. For example, the master sends a PDO at tick t1 and the
slave will receive it at tick t1 or tick t2 and vice versa.
EtherCAT
EtherCAT EtherCAT EtherCAT
Communication
Data Frame Data Frame Data Frame
Frame
No EtherCAT frame
ASDA-A2-E
Application Application Application Application
Application
Task Task Task Task
(Free Run)
Figure 22 Free Run Mode synchronization
 DC-Synchronous Mode (SYNC0 synchronization)
There is a clock tick for the master and all slaves operation. A data sent by the
master will be received by the slave(s) at the same clock interval. The master will
inform all slaves about its clock and ask the slaves to align according to the time. A
strict clock tick is always running within this system.
EtherCAT
EtherCAT EtherCAT
Communication
Data Frame Data Frame
Frame
Application Application
Task Task ASDA-A2-E Application
(SYN0 Synchronization)
SYN0 Event SYN0 Event
Figure 23 DC-Synchronous mode synchronization
2-11
2.3.2 Select the Synchronization Mode

1. Select [Drive 1 (ASDA-A2-E CoE Drive)] in the left window.
2. In DC tab in the right window, you can select DC-Synchronous or Free Run as the
Operation Mode. This is for selecting synchronous or asynchronous mode.
Figure 24
2.3.3 Synchronous Clock Time Setting

1. Select [NC-Task 1 SAF] in the left window.
2. Click the Task tab in the right window.
3. Set the data exchanging period in the Cycle ticks field under the Task tab.
Figure 25
2-12
The unit for SYNC0 cycle time is 1 ms.

1 ms (PDO cycle time = 1 ms)
Supported SYNC0 cycle time
…
* SYNC0 cycle time is used to define PDO cycle time.
2-13
2.4 PDO Mapping

The PDO mapping Objects are allocated from index 0x1600 to 0x1603 for RxPDOs and
0x1A00 to 0x1A03 for TxPDOs in Object Dictionary.
2.4.1 Default PDO Mappings
The following tables are the default PDO mappings of ASDA A2-E CoE Drive for cyclic
data exchange and are also defined in EtherCAT Slave Information file (XML file).
 1st PDO Mapping
RxPDO Control Word Target Position Target Velocity Target Torque Mode of Operation
(0x1600) (0x6040) (0x607A) (0x60FF) (0x6071) (0x6060)
TxPDO Status Word Actual Position Actual Velocity Actual Torque Mode of Operation Display
(0x1A00) (0x6041) (0x6064) (0x606C) (0x6077) (0x6061)
 2nd PDO Mapping (default PDO assignment)
RxPDO Control Word Target Position

(0x1601) (0x6040) (0x607A)
TxPDO Status Word Actual Position

(0x1A01) (0x6041) (0x6064)
 3rd PDO Mapping
RxPDO Control Word Target Velocity

(0x1602) (0x6040) (0x60FF)
TxPDO Status Word Actual Position Actual Velocity

(0x1A02) (0x6041) (0x6064) (0x606C)
2-14
 4th PDO Mapping
RxPDO Control Word Target Torque

(0x1603) (0x6040) (0x6071)
TxPDO Status Word Actual Position Actual Torque

(0x1A03) (0x6041) (0x6064) (0x6077)
2.4.2 Re-define a PDO Mapping

Setup procedure
1. Set 【RxPDO Assignment:0x1C12:0/ TxPDO Assignment: 0x1C13:0】to 0x0 for
disabling the PDO assignment.
2. Set 【RxPDO mapping entry: ex. 0x1601:0/ TxPDO mapping entry: ex. 0x1A01:0】
to 0x0 for disabling the PDO mapping entry setting.
3. Set 【RxPDO mapping entry: ex. 0x1601:0 - 0x1601:7/ TxPDO mapping entry: ex.
0x1A01:0 - 0x1A01:7】.
4. Set 【RxPDO mapping entry: ex. 0x1601:0/ TxPDO mapping entry: ex. 0x1A01:0】
to the number of mapping entries in PDO mapping.
5. Set 【RxPDO Assignment:0x1C12:1/ TxPDO Assignment: 0x1C13:1】to the
specified PDO assignment.
6. Set 【RxPDO Assignment:0x1C12:0/ TxPDO Assignment: 0x1C13:0】to 0x1 for
enabling the PDO assignment.
2-15
2.4.3 Using TwinCAT

1. Press or Shift and F4 to set / reset TwinCAT to Config Mode (Click OK in the
pop-up window).
2. Select [Drive 1 (ASDA A2-E CoE Drive)] in the left window. In Process Data field,
you can change PDO Assignment for another PDO mapping.
3. Right-click the PDO Content window, and find the PDO mapping that you desire to
set, and then you can configure (Insert… / Delete… / Edit… / Move Up / Move Down)
the PDO mapping content. (Each set of PDO mapping allows up to 8 PDO
assignments.)
Figure 27
Figure 28 ASD-A2-E CoE drive Object List
2-16
4. After changing the PDO Assignment, press or F4 to reload I/O devices. (Click
No in the pop-up window and stay in Config Mode.)
2-17
2-18
Chapter 3 EtherCAT
Communication States
ASDA A2-E supports four EtherCAT communication states which are shown as below:
 Init (Initialization)
 Pre-Operational
 Safe-Operational
 Operational
Init
(IP) (PI)
Pre-operational (SI)
(OI) (PS) (SP)
(OP) Safe-operational
(SO) (OS)
Operational
Figure 29 The EtherCAT State machine
The EtherCAT host controller can have the servo drive switch between states.
Different states support different service.
State Description
After power on, the system will be located in this state when the
Init hardware is initialized without any error.
No communication packet is sent at this stage.
The mailbox can be accessed via SDO (Service Data Object).

Pre-Operational The emergency message will be sent to the host controller if any
alarm occurs.
3-1
Chapter 3 EtherCAT Communication States ASDA A2-E
Except SDO, for accessing Mailbox, the PDO (Process Data Object)
Safe-Operational
can only be applied for Process Data Input (TxPDO) at this stage.
The full function of SDO and PDO (TxPDO and RxPDO) are available
Operational
now.
3.1 State Switching Operation
The EtherCAT host will send different state switching commands for requesting different
service.
Switching
Description
Command
 The master will define the slave address and register SyncManager
(0/1), and establish the mailbox communication.
IP
 The master will send the command to have the slave switch to Safe-
Operational state.
 The master uses the SDO to set the PDO mapping related
parameters.
PS  The master will define FMMU and register SyncManager (2/3), and
the slaves keep sending the PDO (TxPDO) packets to the master.
 The master requests the slave to switch to Operational state.
 The master starts to send the PDO (RxPDO).

SO  The distributed clock synchronization procedure takes place between
the master and slaves.
 Disable all communication functions, including the SDO and PDO.

PI, SI, OI
 Switch to Init state.
 Disable the PDO function.

SP, OP
 Switch to Pre-Operational state.
 The master stops sending PDO (RxPDO).

OS
 Switch to Safe-Operational state.
3-2
Chapter 4 EtherCAT
Troubleshooting
Q: Why my TwinCAT cannot find EtherCAT Device from the installed NIC
(Network Interface Card) and only shows RT-Ethernet devices?
A: 1. Refer to TwinCAT setup procedures and make sure the NIC is installed
properly.
2. Check if the cable is correctly connected and L/A LED is lit.
Q: The window shows “Unknown device type found” while using TwinCAT Scan
boxes.
A: Copy XML description of the ASDA-A2-E to TwinCAT device description folder

(usually in C:\TwinCAT\Io\EtherCAT) and restart TwinCAT System.
Q: Why does EtherCAT state machine only show INIT in Current State field and
blank in DLL Status fields when TwinCAT is in Config Mode?
Figure 30
A: 1. Set P1-01 to 0x0C (EtherCAT communication mode).

2. Check the wiring from the host to EtherCAT communication port CN6A for input
and CN6B for output on the servo drive. If the Link LED lights up, it indicates
4-1
ASDA A2-E Chapter 4 EtherCAT Troubleshooting
that the physical connection is correct and the drive is connecting.
Q: TwinCAT shows “following error”.
Figure 31
A: Set Following Error Calculation to Extern:

1. Select [Axis 1_Drive] in the left window.
2. Under the Parameter tab, select Extern for Following Error Calculation.
3. Click Download and click OK in the pop-up window.
Figure 32
4-2
Chapter 4 EtherCAT Troubleshooting ASDA A2-E
Q: ASDA A2-E servo drive shows AL185.
A: This alarm message occurs because of the disconnecting EtherCAT

communication between the host and the slave. Check the wiring and then switch
the servo drive to on again or set OD 0x6040 to 0x86 for fault reset.
Q: ASDA A2-E servo drive shows AL180.

A: Working under Operational state without receiving any PDOs will trigger this alarm.
1. A mechanism inside Delta Servo Drive can be used to monitor the error when
receiving PDOs by setting P0-02 to 121. If the value keeps increasing, it means
there is server interference on the communication cable.
2. Select the drive and click the Online tab. If the values in the columns of Lost
Frames and Rx Errors keep increasing, it means the system is severely
interfered.
Figure 33
3. You can adjust the settings for P3-22 with the application requirement for
triggering AL180 when not receiving PDOs for some consecutive
communication cycle times.
4-3
ASDA A2-E Chapter 4 EtherCAT Troubleshooting
Q: ASDA A2-E servo drive shows AL3E1.

A: When you enable DC synchronization, if the reference clock jitters violently, it may
trigger this alarm.
1. Check the reference clock for violent time jitter.
2. Set the control word 0x6040.7 = 1 for fault reset.
Q: ASDA A2-E servo drive shows AL3E3.

A: Working under Operational state in CANopen CSP/CSV/CST mode without
receiving any PDOs for consecutive times triggers this alarm.
1. Make sure the host controller periodically and stably sends PDOs.
2. Make sure the drive is properly grounded and wired.
3. You can adjust the settings for P3-22 with the application requirement for
triggering AL3E3 when not receiving PDOs for some consecutive
communication cycle times.
4-4
Chapter 5 CANopen Operation
Mode
5.1 Profile Position Mode
5.1.1 Description
Servo drive (hereinafter “Drive”) receives position command from the host (external)
controller (hereinafter “Host”) and then controls the servo motor to reach the target
position.
Pulse of User-defined Unit Definition:

PUU Ox6093 Sub2
Pulse of User Unit (PUU): No. of = 1280000 ×
Rev OD−6093h Sub1
5.1.2 Operation Procedures
1. Set 【Modes of operation: 6060h】to profile position mode (0x01).
2. Set 【Target position: 607Ah】to the target position (unit: PUU).
3. Set 【Profile velocity: 6081h】to the profile velocity (unit: PUU per second).
4. Set 【Profile acceleration: 6083h】to plan acceleration slope (millisecond from
0 rpm to 3000 rpm).
5. Set 【Profile deceleration: 6084h】to plan deceleration slope (millisecond from
0 rpm to 3000 rpm).
6. Set 【Controlword: 6040h】to (0x06 > 0x07 > 0x0F) in sequence, switch the drive to
Servo On state and enable the motor.
7. Read 【Position actual value: 6064h】to obtain feedback position of the motor.
8. Read 【Statusword: 6041h】to obtain the drive status, including the following error,
set-point acknowledge, and target reached.
5-1
Chapter 5 CANopen Operation Mode ASDA A2-E
5.1.3 Advanced Setting Procedures

1. The Host could obtain more information about profile position mode.
 Read 【Position demand value: 6062h】to obtain the internal position command.
(unit: PUU)
 Read 【Position actual value*: 6063h】to obtain the actual position value.
(unit: increments)
2. Following error
 Set 【Following error window: 6065h】 to define a symmetrical range of the
tolerated position value which is relative to the position demand value.
(unit: PUU)
 Read 【Following error actual value: 60F4h】to obtain the actual value of the
following error. (unit: PUU)
accepted following error tolerance
position
following error following error

window window
following error no following error following error
reference position
Reference position
3. Position window
 Set 【Position window: 6067h】to define a symmetrical range of the accepted
positions which is relative to the target position. (unit: PUU)
 Set 【Position window time: 6068h】to plan the activation time of target
reached. (unit: millisecond)
5-2
ASDA A2-E Chapter 5 CANopen Operation Mode
accepted position range
position
position window position window
position reached
position not reached position not reached
target position
Position reached
5.1.4 Associated Object List

Index Name Type Attr.
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Modes of operation INTEGER8 RW
6061h Modes of operation display INTEGER8 RO
6062h Position demand value [PUU] INTEGER32 RO
6063h Position actual value [increment] INTEGER32 RO
6064h Position actual value INTEGER32 RO
6065h Following error window UNSIGNED32 RW
6067h Position window UNSIGNED32 RW
6068h Position window time UNSIGNED16 RW
607Ah Target position INTEGER32 RW
6081h Profile velocity UNSIGNED32 RW
6083h Profile acceleration UNSIGNED32 RW
6084h Profile deceleration UNSIGNED32 RW
6093h Position factor UNSIGNED32 RW
60F4h Following error actual value INTEGER32 RO
60FCh Position demand value INTEGER32 RO
5-3
5.2 Interpolation Position Mode
5.2.1 Description
The Host sends PDOs to the drive periodically with each PDO carrying the next
reference Xi, difference △Xi, and controlword. While receiving the next SYNC0, the
drive interpolates from Xi-1 to Xi.
 Extrapolation, Jitter Compensation
- When PDO is delayed, the interpolator predicts the speed and position for the
next time according to the last acceleration.
- If PDO is delayed, the Drive stops and sends out an error message. Set the
maximum tolerable delay time with P3-22.
 PDO Rx/Tx Mapping record
- The Drive receives PDOs from the Host
 32-bit reference position [position increment]
 16-bit symmetrical difference [increments]
△Xi = (Xi+1 – Xi-1)/2 (It is the same for velocity.)
 16-bit controlword
The Drive receives PDOs from the Host. (Every PDO contains 8 bytes field, which is
shown as below.)
32-bit reference position 16-bit difference 16-bit controlword
5-4

1. Set 【Modes of operation: 6060h】to interpolation position mode (0x07).
2. Set 【Interpolation sub mode select: 60C0h】to Interpolation mode.
 If 60C0h is [0], the Host does not need to send [60C1h Sub-2], which saves the
calculating time for the host and the Drive is still operable.
 If 60C0h is [-1], the Host needs to send [60C1h Sub-2] to increase the Drive
precision.
3. Set 【Interpolation time period: 60C2h】, and the value should be identical to that of
the SYNC0 cycle time.
 60C2h Sub-1 is used for Interpolation time units, with the range from 1 ms to
20 ms.
- 60C2h Sub-2 is used for Interpolation time index. The value is always -3,
meaning the interpolation time unit is 10-3 second.
4. Drive PDO Rx:
 Use 60C1h Sub-1 to set Pos Cmd (32-bit).
 Use 6040h Sub-0 to set Controlword.

60C0h Interpolation sub mode select INTEGER16 RW
60C1h Interpolation data record ARRAY RW
(Refer to the Section 6.4 Details of Objects for more details)
5-5
5.3 Cyclic Synchronous Position Mode
5.3.1 Description
The Host plans the path in Cyclic Synchronous Position mode and sends PDOs
periodically to the drive with each PDO carrying the target position and controlword.
The velocity offset and torque offset can be used as the velocity and torque feed
forward.
5.3.2 The Function of CSP Mode
Torque offset (60B2h)
Velocity offset (60B1h)
Position offset (60B0h)

+ + +
Target + Position + Velocity + Torque
M
position control control control
(607Ah)
Torque actual value

(6077h)
Velocity actual value
(606Ch)
Position actual value
(6064h)
5-6

1. Set 【Modes of operation: 6060h】to cyclic synchronous position mode (0x08).
 60C2h Sub-1 is used for Interpolation time units with the range from 1 ms to
20 ms.
3. Drive PDO Rx:
 Use 607Ah to set Target Pos Cmd (32-bit).

607Ah Target position INTEGER32 RW
60B0h Position offset INTEGER32 RW
60B1h Velocity offset INTEGER32 RW
606Ch Velocity actual value INTEGER32 RO
60B2h Torque offset INTEGER16 RW
6077h Torque actual value INTEGER16 RO
(Refer to Section 6.4 Details of Objects for more details.)
5-7
5.4 Homing Mode
5.4.1 Description
This mode helps the Drive to find the home position. Users can specify the speed,
acceleration, and method of homing.
1. Set【Modes of operations: 6060h】to the homing mode (0x06).
2. Set【Home offset: 607Ch】.
3. Set【Homing method: 6098h】. The setting range is from 1 to 35. (Refer to the OD-
6098h definition shown below.)
4. Set【Homing speed: 6099h Sub-1】to set speed during the search for Home Switch.
(unit: rpm)
5. Set【Homing speed: 6099h Sub-2】to set speed during the search for zero. (unit:
rpm)
6. Set【Homing acceleration: 609Ah】for homing acceleration. (unit: millisecond from
0 rpm to 3000 rpm)
7. Set【Controlword: 6040h】to (0x06 > 0x07 > 0x0F) in sequence, switch the drive to
Servo ON state and enable the motor.
8. Set【Controlword: 6040h】to (0x0F > 0x1F) in sequence to search for Home Switch
and perform homing.
9. Read【Statusword: 6041h】to obtain the drive status.
5-8

607Ch Home offset INTEGER32 RW
6098h Homing method INTEGER8 RW
6099h Homing speed ARRAY RW
609Ah Homing acceleration UNSIGNED32 RW
5-9
5.5 Profile Velocity Mode
5.5.1 Description
The Drive receives velocity command, and plans acceleration and deceleration.
1. Set【Modes of operation: 6060h】to profile velocity mode (0x03).
2. Set【Controlword: 6040h】to (0x06 > 0x07 > 0x0F) in sequence, switch the drive to
Servo ON state and enable the motor. (After Servo On, the internal velocity
command will be reset and OD-60FFh will be cleared.)
3. Set【Profile acceleration: 6083h】to plan the acceleration slope. (millisecond from
0 rpm to 3000 rpm)
4. Set【Profile deceleration: 6084h】to plan the deceleration slope. (millisecond from
0 rpm to 3000 rpm)
5. Set【Target velocity: 60FFh】. The unit of the target velocity is 0.1 rpm.
(If the drive is already servo-on, it will work immediately after receiving the velocity
command. OD-60FFh will be cleared to 0 if OD-6060h [Mode] is changed, Servo is

off, or Quick-Stop is activated.)
6. Read【Statusword: 6041h】to obtain the drive status.
5-10

1. The Host could obtain more information about velocity mode.
 Read【Velocity demand value: 606Bh】to inquire the internal velocity command.
(unit: 0.1 rpm)
 Read【Velocity actual value: 606Ch】to obtain the actual velocity value.
(unit: 0.1 rpm)
2. The Host could set velocity monitor threshold.
 Set【Velocity window: 606Dh】to allocate the velocity reached zone.
(unit: 0.1 rpm)
 Set【Velocity window time: 606Eh】in order to ensure the activation time is
before the velocity reached. (unit: millisecond)
 Set【Velocity threshold: 606Fh】to allocate the zero speed level. (unit: 0.1 rpm)

606Bh Velocity demand value INTEGER32 RO
606Dh Velocity window UNSIGNED16 RW
606Eh Velocity window time UNSIGNED16 RW
606Fh Velocity threshold UNSIGNED16 RW
60FFh Target velocity INTEGER32 RW
5-11
5.6 Cyclic Synchronous Velocity Mode
5.6.1 Description
The Host plans the path in Cyclic Synchronous Velocity mode and sends PDOs
periodically to the drive with each PDO carrying the target position and controlword. In
addition, the velocity offset and torque offset can be used as the velocity and torque
feed forward.
5.6.2 The Function of CSV Mode

Velocity offset (60B1h)

+ +
Target + Velocity + Torque
M
velocity control control
(60FFh)
Torque actual value

(6077h)
(606Ch)
(6064h)
1. Set 【Modes of operation: 6060h】to cyclic synchronous velocity mode (0x09).
20 ms.
5-12
3. Drive PDO Rx:
 Use 60FFh to set Target Velocity Cmd (32-bit).

60FFh Target velocity INTEGER32 RW
60B1h Velocity offset INTEGER32 RW
5-13
5.7 Profile Torque Mode
5.7.1 Description
The Drive receives torque command and plans profile torque slope.
1. Set 【Modes of operation: 6060h】to profile torque mode (6060h = 04h).
2. Set 【Controlword: 6040h】to (0x6 > 0x7 > 0x0F) in sequence, switch the drive to
Servo ON state and enable the motor.
(After Servo On, the internal torque command will be reset and OD-6071h will be
cleared. It means the drive is servo-on and starts to receive the torque command.)
3. Set 【Torque slope: 6087h】to plan torque slope time. (unit: millisecond from 0 to
100% rated torque)
4. Set 【Target torque: 6071h】to the target torque. The unit is given one rated torque
in a thousand. (OD-6071h will be cleared to 0 if OD-6060h [Mode] is changed, Servo
is off, or Quick-Stop is activated.)

The Host could obtain more information about torque mode.
 Read 【Torque demand value: 6074h】to obtain the output value of the torque limit
function. (unit: one rated torque in a thousand)
 Read 【Torque rated current: 6075h】to obtain the rated current determined by the
motor and drive type. (unit: multiples of milliamp)
 Read 【Torque actual value: 6077h】to obtain the instantaneous torque in the
servo motor. (unit: one rated torque in a thousand)
 Read 【Current actual value: 6078h】to obtain the instantaneous current in the
servo motor. (unit: one rated torque in a thousand)
5-14

6071h Target torque INTEGER16 RW
6074h Torque demand value INTEGER16 RO
6075h Motor rated current UNSIGNED32 RO
6078h Current actual value INTEGER16 RO
6087h Torque slope UNSIGNED32 RW
5-15
5.8 Cyclic Synchronous Torque Mode
5.8.1 Description
The Host plans the path in Cyclic Synchronous Torque mode and sends PDO
periodically to the drive with each PDO carrying the target position and controlword. In
addition, the velocity offset and torque offset can be used as the velocity and torque
feed forward.
5.8.2 The Function of CST Mode

+
Target + Torque
M
torque control
(6071h)
Torque actual value

(6077h)
(606Ch)
(6064h)
1. Set【Modes of operation: 6060h】to cyclic synchronous torque mode (0x0A).
2. Set【Interpolation time period: 60C2h】to predict the cycle that SYNC0 receives
PDO.
20 ms.
5-16
3. Drive PDO Rx:
 Use 6071h to set Target Torque Cmd (16-bit)

6071h Target torque INTEGER16 RW
5-17
5.9 Limit Position Handling Procedure
5.9.1 Description
The Drive switches to Quick-Stop status while the motor travels to the position of
positive or negative limit sensors, and it can be handled by the following procedures.
1. The servo panel shows the alarm while the sensors are close to the positive or
negative limit. The motor is stopped by a deceleration slope and the drive is at
Quick-Stop status. The drive keeps in servo-on status but will not accept further
motion commands.
2. Set 【Controlword: 6040h】to 0x8F for fault reset and clear the alarm displayed on
the panel.
3. Set 【Controlword: 6040h】to 0x1F / 0x0F for Operation Enabled, and then the
servo drive can receive the motion command again.
4. When the motor reaches the limit position, there must be a command which can
drive the motor to the backward direction. Or the alarm will be triggered again while
the motor starts moving.
5-18
5.10 Touch Probe Function
5.10.1 Description
Touch Probe function can be enabled by the high-speed DI on CN7 (only DI13 is a
high-speed DI, with the hardware response time as 5 μs) or by the zero signal from the
encoder; among that, the feedback position can be latched as positive or negative
edge with DI13 on CN7 with P2-40. This function is used for high-speed measurement
or wrapping applications.
5.10.2 Touch Probe Function

The current status of Touch Probe can be obtained by Object 60B8h. The definition of
each bit is as the followings.
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit Function Description
0: disable Touch Probe 1.

Bit 0 Touch Probe 1 switch
1: enable Touch Probe 1.
Trigger counts for Touch 0: capture the data once.

Bit 1
Probe 1 1: capture the data continuously.
Trigger source for Touch 0: trigger with DI13 on CN7.

Bit 2
Probe 1 1: trigger with Z-pulse of the encoder.
Bit 3 Reserved -
0: invalid.
Rising-edge triggered 1: capture the data at the rising-edge
Bit 4
Touch Probe 1 action of Touch Probe 1 and store the value
to Object 60BAh.
0: invalid.
Falling-edge triggered 1: capture the data at the falling-edge
Bit 5
Touch Probe 1 action of Touch Probe 1 and store the value
to Object 60BBh.
Bit 6 - 15 Reserved -
5-19
5.10.3 Touch Probe Status

The current status of Touch Probe can be obtained by Object 60B9h. The definition of
each bit is as the follows.
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0: Touch Probe 1 disabled.

Bit 0 Touch Probe 1 status
1: Touch Probe 1 enabled.
0: data is not captured yet.

Touch Probe 1 – data capture at
Bit 1 1: data is successfully
rising-edge
captured at rising-edge.
0: data is not captured yet.

Touch Probe 1 – data capture at
Bit 2 1: data is successfully
falling-edge
captured at falling-edge.
0: trigger with DI13 on CN7.

Bit 6 Trigger source for Touch Probe 1 1: trigger with the Z pulse of
the encoder.
Trigger signal for Touch Probe 1 0: N/A

Bit 7 (only available when 60B8h Bit 1 1: toggle with every update of
is enabled) Touch Probe 1 value stored.
5-20
Example 1: the following is the timing diagram for Touch Probe function. In this example,
the data capturing action is triggered through the external DI. When Object 60B8h Bit 4 is
enabled, the data is captured once; and the data is captured whenever it is rising-edge or
falling-edge triggered.
1
Bit 0
Touch Probe 1 switch
t
13
Bit 1
Trigger counts for
Touch Probe 1 t
OD 60B8h
Touch Probe Bit 4 1
function Rising-edge triggered
Touch Probe 1 action
t
Bit 5
7 9
Falling-edge triggered
t
2 14
Bit 0
Touch Probe 1 status
t
Bit 1 4 8 12 14
OD 60B9h Touch Probe 1 -
Touch Probe data capture at
status rising-edge t
Bit 2 6 14
Touch Probe 1 -
data capture at
falling-edge
t
3 5 11
Touch Probe 1 signal
(from DI 13 on CN7)
t
4a 8a 10 12a
0x60BA
Touch probe pos1 pos Position 0 Position 1 Position 3
value t
6a 14a
0x60BB
Touch probe pos1 neg Position 0 Position 2
value t
5-21
The timing status is described below:

Status Function Description
1: enable Touch Probe 1.
OD 60B8h Bit 0 = 1 0: capture the data once.
OD 60B8h Bit 1 = 0 1: capture the data when it is rising-edge
(1)
OD 60B8h Bit 4 = 1 triggered.
OD 60B8h Bit 5 = 1 1: capture the data when it is falling-edge
triggered.
Touch Probe status: Touch Probe 1
(2) OD 60B9h Bit 0 = 1
enabled.
Touch Probe 1 is rising-edge triggered by
(3) -
external signal.
Status for position capture: Touch Probe is
(4) OD 60B9h Bit 1 = 1 rising-edge triggered and the data is
successfully captured.
Store the captured data at rising-edge to
(4a) OD 60BAh
OD 60BAh.
Touch Probe 1 is falling-edge triggered by
(5) -
external signal.
Touch Probe status: Touch Probe is falling-
(6) OD 60B9h Bit 2 = 1 edge triggered and the data is successfully
captured.
Store the captured data at falling-edge to
(6a) OD 60BBh
OD 60BBh.
Disable the rising-edge triggered Touch
(7) OD 60B8h Bit 4 = 0
Probe 1 action.
Touch Probe status: reset the rising-edge
(8) OD 60B9h Bit 1 = 0
triggered status as non-triggered.
(8a) OD 60BAh Data at rising-edge remains the same.
1: capture data when it is rising-edge
(9) OD 60B8h Bit 4 = 1
triggered.
(10) OD 60BAh Data at rising-edge remains the same.
Touch Probe 1 is rising-edge triggered by
(11) -
external signal.
Touch Probe status: data successfully
(12) OD 60B9h Bit 1 = 1
captured at rising-edge.
Store the captured data at rising-edge to
(12a) OD 60BAh
OD 60BAh.
(13) OD 60B8h Bit 0 = 1 0: disable Touch Probe 1.
OD 60B9h Bit 0 = 0
(14) OD 60B9h Bit 1 = 0 Reset Touch Probe status.
OD 60B9h Bit 2 = 0
Data at rising-edge and falling-edge remain
(14a) OD 60BAh ,OD 60BBh
the same.
5-22
Example 2: the following is the timing diagram for Touch Probe. The Touch Probe function
is triggered by the Z pulse of the encoder and the data is captured once only when it is
rising-edge triggered.
Bit 0
Touch Probe 1 switch
t
Bit 1
OD 60B8h Trigger counts for
Touch Probe t
Touch Probe 1
function
Bit 4
Rising-edge triggered
t
Bit 0
Touch Probe 1 status
OD 60B9h t
Touch Probe
status Bit 1
Touch Probe 1 -
data captured at t
rising-edge
Touch Probe 1 signal

(from the Z pulse of t
the encoder)
0x60BA
Touch probe pos 1 Position 0 Position 1 Position 2
neg value t

60B8h Touch probe function UNSIGNED16 RW
60B9h Touch probe status UNSIGNED16 RO
60BAh Touch probe pos1 pos value INTEGER32 RO
60BBh Touch probe pos1 neg value INTEGER32 RO
5-23
5-24
Chapter 6 Object Dictionary
Entries
6.1 Specifications for Objects
6.1.1 Object Type
Object Name Comments
VAR A single value such as an UNSIGNED8, Boolean, float, or INTEGER16, etc.
A multiple data field object where each data field is a sample variable of the
ARRAY SAME basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is
UNSIGNED8 but is not part of the ARRAY data.
A multiple data field object where the data fields may be any combination of
RECORD simple variables. Sub-index 0 is UNSIGNED8 but is not part of the RECORD
data.
6.1.2 Data Type

Refer to CANopen Standard 301.
6.2 Overview of Object Group 1000h
Index Object Type Name Data Type Access
1000h VAR device type UNSIGNED32 RO
1001h VAR error register UNSIGNED8 RO
1600h - 03h RECORD Receive PDO mapping UNSIGNED32 RW
1A00h - 03h RECORD Transmit PDO mapping UNSIGNED32 RW
※ Only 1001h could be mapped to PDO.
6-1
Chapter 6 Object Dictionary Entries ASDA A2-E
6.3 Overview of Object Group 6000h
Object
Index Name Data Type Access Mappable
Type
603Fh VAR Error Code UNSIGNED16 RO Y
6040h VAR Controlword UNSIGNED16 RW Y
6041h VAR Statusword UNSIGNED16 RO Y
605Bh VAR Shutdown option code INTEGER16 RW N
605Eh VAR Fault reaction option code INTEGER16 RW N
6060h VAR Modes of operation INTEGER8 RW Y
6061h VAR Modes of operation display INTEGER8 RO Y
6062h VAR Position demand value [PUU] INTEGER32 RO Y

6063h VAR INTEGER32 RO Y
[increment]
6064h VAR Position actual value INTEGER32 RO Y
6065h VAR Following error window UNSIGNED32 RW Y
6067h VAR Position windows UNSIGNED32 RW Y
6068h VAR Position window time UNSIGNED16 RW Y
606Bh VAR Velocity demand value INTEGER32 RO Y
606Ch VAR Velocity actual value INTEGER32 RO Y
606Dh VAR Velocity window UNSIGNED16 RW Y
606Eh VAR Velocity window time UNSIGNED16 RW Y
606Fh VAR Velocity threshold UNSIGNED16 RW Y
6071h VAR Target torque INTEGER16 RW Y
6072h VAR Max torque UNSIGNED16 RW Y
6074h VAR Torque demand value INTEGER16 RO Y
6075h VAR Motor rated current UNSIGNED32 RO Y
6076h VAR Motor rated torque UNSIGNED32 RO Y
6077h VAR Torque actual value UNSIGNED16 RO Y
6078h VAR Current actual value INTEGER16 RO Y
607Ah VAR Target position INTEGER32 RW Y
6-2
ASDA A2-E Chapter 6 Object Dictionary Entries
Object
Type
607Ch VAR Home Offset INTEGER32 RW Y
607Dh ARRAY Software position limit INTEGER32 RW Y
607Eh VAR Polarity UNSIGNED8 RW Y
607Fh VAR Max profile velocity UNSIGNED32 RW Y
6080h VAR Max motor speed UNSIGNED32 RW Y
6081h VAR Profile velocity UNSIGNED32 RW Y
6083h VAR Profile acceleration UNSIGNED32 RW Y
6084h VAR Profile deceleration UNSIGNED32 RW Y
6085h VAR Quick stop deceleration UNSIGNED32 RW Y
6086h VAR Motion profile type INTEGER16 RW Y
6087h VAR Torque slope UNSIGNED32 RW Y
6093h ARRAY Position factor UNSIGNED32 RW Y
6098h VAR Homing method INTEGER8 RW Y
6099h ARRAY Homing speeds UNSIGNED32 RW Y
609Ah VAR Homing acceleration UNSIGNED32 RW Y
60B0h VAR Position offset INTEGER32 RW Y
60B1h VAR Velocity offset INTEGER32 RW Y
60B2h VAR Torque offset INTEGER16 RW Y
60B8h VAR Touch probe function UNSIGNED16 RW Y
60B9h VAR Touch probe status UNSIGNED16 RO Y
60BAh VAR Touch probe pos1 pos value INTEGER32 RO Y
60BBh VAR Touch probe pos1 neg value INTEGER32 RO Y
60BCh VAR Touch probe pos2 pos value INTEGER32 RO Y
60BDh VAR Touch probe pos2 neg value INTEGER32 RO Y
60C0h VAR Interpolation sub mode select INTEGER16 RW Y
60C1h ARRAY Interpolation data record UNSIGNED16/32 RW Y
60C2h RECORD Interpolation time period SIGNED8 RW Y
60C5h VAR Max acceleration UNSIGNED32 RW Y
60C6h VAR Max deceleration UNSIGNED32 RW Y
6-3
Object
Type
60F2h VAR Positioning option code UNSIGNED16 RW Y
60F4h VAR Following error actual value INTEGER32 RO Y
60FCh VAR Position demand value INTEGER32 RO Y
60FDh VAR Digital inputs UNSIGNED32 RO Y
60FFh VAR Target velocity INTEGER32 RW Y
6502h VAR Supported drive modes UNSIGNED32 RO Y
Delta parameter definition

2xxx VAR Parameter Mapping INTEGER16/32 RW Y
6-4
6.4 Details of Objects
Object 1000h: Device Type
INDEX 1000h
Name device type
Object Code VAR
Data Type UNSIGNED32
Access RO
PDO Mapping No
Value Range UNSIGNED32
Default Value 04020192 h: A2 Series
Object 1001h: Error Register

INDEX 1001h
Name error register
Object Code VAR
Data Type UNSIGNED8
Access RO
PDO Mapping Yes
Default Value 0
Object 1600h ~ 1604h: Receive PDO Mapping Parameter

INDEX 1600h ~ 1603h
Name Receive PDO mapping
Object Code RECORD
Data Type PDO Mapping
Access RW
PDO Mapping No
Sub-Index 0
Description Number of mapped application objects in
PDO
Data Type UNSIGNED8
Access RW
6-5
PDO Mapping No
Value Range 0: deactivated
1 ~ 8: activated
Default Value 0
Sub-Index 1~8
Description PDO mapping for the nth application object
to be mapped
Access RW
PDO Mapping No
Default Value 0
Object Dictionary
Application
aaaa xx
Object 1
PDO Mapping
0 3
Application
bbbb yy
1 bbbb yy 08h Object 2
2 cccc zz 20h
3 aaaa xx 10h
Application
cccc zz
Object 3
Application
Application Object 3 Application Object 1
Object 2
Object 1A00h ~ 1A04h: Transmit PDO Mapping Parameter

INDEX 1A00h ~ 1A03h
Name Transmit PDO mapping
Object Code RECORD
Data Type PDO Mapping
Access RW
PDO Mapping No
Sub-Index 0
Description Number of mapped application objects in
PDO
Data Type UNSIGNED8
Access RW
6-6
PDO Mapping No
1 ~ 8: activated
Default Value 0
Sub-Index 1~8
Description PDO mapping for the nth application object
to be mapped
Access RW
PDO Mapping No
Default Value 0
Object 1C12h: RxPDO assign

INDEX 1C12h
Name RxPDO assign
Object Code RECORD
Data Type PDO Mapping assign
Access RW
PDO Mapping No
Sub-Index 0
Description Number of assigned PDO mapping
Data Type UNSIGNED8
Access RW
PDO Mapping No
1: one PDO mapping be assigned to
SycManager2 for RxPDO
Default Value 1
Sub-Index 1
Description Index of assigned PDO mapping
Access RW
PDO Mapping No
Value Range 1600h to 1603h
6-7
Default Value 1601h
Object 1C13h: TxPDO assign

INDEX 1C13h
Name TxPDO assign
Object Code RECORD
Data Type PDO Mapping assign
Access RW
PDO Mapping No
Sub-Index 0
Description Number of assigned PDO mapping
Data Type UNSIGNED8
Access RW
PDO Mapping No
1: one PDO mapping be assigned to
SycManager3 for TxPDO
Default Value 1
Sub-Index 1
Description Index of assigned PDO mapping
Access RW
PDO Mapping No
Value Range 1A00h to 1A03h
Default Value 1A01h
Object 603Fh: Error code (error code of CANopen defined)

INDEX 603Fh
Name Error code
Object Code VAR
Access RO
PDO Mapping Yes
Default Value 0
6-8
Object 6040h: Controlword

INDEX 6040h
Name Controlword
Object Code VAR
Access RW
PDO Mapping Yes
Default Value P1-01 = 0x0C, default is 0x0004
ControlWord
(6040h)
State Machine
StatusWord
(6041h)
State machine in system context
6-9
Bit definition
15 ~ 9 8 7 6~4 3 2 1 0
Quick
Operation mode Enable Enable Switch
N/A Halt Fault reset Stop
specific operation voltage on
(B-contact)
Note:
You need to set 6040h to 0x0006 > 0x0007 > 0x000F for Servo On step by step.
Operation mode
Bit
PP HM IP PV PT
New set-point Homing operation start
4 N/A N/A N/A
(positive trigger) (positive trigger)
Change set
5 N/A N/A N/A N/A
immediately
6 Absolute(0) / relative(1) N/A N/A N/A N/A
Abbreviation:
PP Profile Position Mode
HM Homing Mode
IP Interpolated Position Mode
PV Profile Velocity Mode
PT Profile Torque Mode
Velocity
v2
v1
t0 t1 t2 t3 time
Single set-point
Velocity
v2
v1
t0 t1 t2 time
Change settings immediately
6-10
Object 6041h: Statusword

INDEX 6041h
Name Statusword
Object Code VAR
Access RO
PDO Mapping Yes
Default Value 0
Data description
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MSB LSB
Bit definition
0 Ready to switch on
1 Switch on
2 Operation enabled (status of servo on)
3 Fault (the drive will servo off)
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning (the drive is still servo on)
8 N/A
9 Remote
10 Target reached
11 Internal limit active (Not supported)
PP HM IP PV PT
Set-point Homing
12 IP mode active Zero Speed N/A
acknowledge attained
13 Following error Homing error N/A N/A N/A
14 N/A N/A N/A N/A N/A
15 N/A N/A N/A N/A N/A
Note:
Set-point acknowledge: Trajectory generator has assumed the positioning values
Homing attained: Homing mode carried out successfully
IP mode active: interpolated position mode active – mode is running in IP mode
6-11
Object 605Bh: Shutdown option code

INDEX 605Bh
Name Shutdown option code
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Value Range INTEGER16
Default Value 0
Comment 0: disable drive function
-1: dynamic break enable
Object 605Eh: Fault reaction option code

INDEX 605Eh
Name Fault reaction option code
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Default Value 2
Comment 0: disable drive, motor is free to rotate
1: slow down on slow down ramp
2: slow down on quick stop ramp
Object 6060h: Modes of operation

INDEX 6060h
Name Modes of operation
Object Code VAR
Data Type INTEGER8
Access RW
PDO Mapping Yes
Default Value 0
Comment 0: reserved
1: Profile position mode
3: Profile velocity mode
6-12
4: Profile torque mode

6: Homing mode
7: Interpolated position mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
10: Cyclic synchronous torque mode
Object 6061h: Modes of operation display

INDEX 6061h
Name Modes of operation display
Object Code VAR
Data Type INTEGER8
Access RW
PDO Mapping Yes
Default Value 0
Object 6062h: Position demand value

INDEX 6062h
Name Position demand value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Position command is calculated by
Interpolation theory
Unit: PUU
Object 6063h: Position demand value

INDEX 6063h
Name Position actual value*
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
6-13
Default Value 0
Comment Unit: increments
Object 6064h: Position actual value

INDEX 6064h
Name Position actual value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
Object 6065h: Following error window

INDEX 6065h
Name Following error window
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 3840000
Comment Unit: PUU
Object 6067h: Position window

INDEX 6067h
Name Position window
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 100
Comment Unit: PUU
6-14
Object 6068h: Position window time

INDEX 6068h
Name Position window time
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
Comment Unit: millisecond
Object 606Bh: Velocity demand value

INDEX 606Bh
Name Velocity demand value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Comment Unit: 0.1 rpm
Object 606Ch: Velocity actual value

INDEX 606Ch
Name Velocity actual value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
6-15
Object 606Dh: Velocity window

INDEX 606Dh
Name Velocity window
Object Code VAR
Data Type INTEGER16
Access RO
PDO Mapping Yes
Value Range 0 ~ 3000
Default Value 100
Object 606Eh: Velocity window time

INDEX 606Eh
Name Velocity window time
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
Object 606Fh: Velocity threshold

INDEX 606Fh
Name Velocity threshold
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 100
6-16
Object 6071h: Target torque

INDEX 6071h
Name Target torque
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Value Range -3000 ~ 3000
Default Value 0
Comment Unit: one rated torque in a thousand
Object 6072h: Max torque

INDEX 6072h
Name Max torque
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 3000
Object 6074h: Torque demand value

INDEX 6074h
Name Torque demand value
Object Code VAR
Data Type INTEGER16
Access RO
PDO Mapping Yes
6-17
Object 6075h: Motor rated current

INDEX 6075h
Name Motor rated current
Object Code VAR
Access RO
PDO Mapping Yes
Comment Unit: milliamp
Object 6076h: Motor rated torque

INDEX 6076h
Name Motor rated torque
Object Code VAR
Access RO
PDO Mapping Yes
Object 6077h: Torque actual value

INDEX 6077h
Name Torque actual value
Object Code VAR
Data Type INTEGER16
Access RO
PDO Mapping Yes
Object 6078h: Current actual value

INDEX 6078h
Name Current actual value
Object Code VAR
Data Type INTEGER16
Access RO
6-18
PDO Mapping Yes

Comment Unit: one rated current in a thousand
Object 607Ah: Target position

INDEX 607Ah
Name Target position
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
Default Value 0
Comment For Profile position mode 6060h = 1
Unit: PUU
Object 607Ch: Home offset

INDEX 607Ch
Name Home offset
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
Default Value 0
Comment Unit : PUU
Home Zero
Position Position
home offset
Home offset
6-19
Object 607Dh: Software position limit

INDEX 607Dh
Name Software position limit
Object Code ARRAY
Data Type INTEGER32
Access RW
PDO Mapping Yes
Sub-Index 0
Description Number of entries
Data Type UNSIGNED8
Access RO
PDO Mapping Yes
Value Range 2
Default Value 2
Sub-Index 1
Description Min position limit
Data Type INTEGER32
Access RW
PDO Mapping Yes
Value Range -2147483648 ~ +2147483647
Default Value -2147483648
Comment Unit: PUU
Sub-Index 2
Description Max position limit
Data Type INTEGER32
Access RW
PDO Mapping Yes
Value Range -2147483648 ~ +2147483647
Default Value +2147483647
Comment Unit: PUU
6-20
Object 607Fh: Max profile velocity

INDEX 607Fh
Name Max profile velocity
Object Code VAR
Access RW
PDO Mapping Yes
Default Value P1-55 (rpm) * 10
Object 6080h: Max motor speed

INDEX 6080h
Name Max motor speed
Object Code VAR
Access RW
PDO Mapping Yes
Default Value P1-55 (rpm)
Comment Unit: rpm
Object 6081h: Profile velocity

INDEX 6081h
Name Profile Velocity
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 10000
Comment For Profile position mode 6060h = 1
Unit: PUU per second
6-21
Object 6083h: Profile acceleration

INDEX 6083h
Name Profile acceleration
Object Code VAR
Access RW
PDO Mapping Yes
Value Range 1 ~ UNSIGNED32
Default Value 200
Comment For Profile position mode 6060h = 1 &
Profile velocity mode 6060h = 3
Unit: millisecond (time from 0 rpm to
3000 rpm)
Object 6084h: Profile deceleration

INDEX 6084h
Name Profile deceleration
Object Code VAR
Access RW
PDO Mapping Yes
Value Range 1 ~ UNSIGNED32
Default Value 200
Comment For Profile position mode 6060h = 1 &
Profile velocity mode 6060h = 3
Unit: millisecond (time from 0 rpm to
3000 rpm)
Object 6085h: Quick stop deceleration

INDEX 6085h
Name Quick stop acceleration
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
(time from 0 rpm to 3000 rpm)
6-22
Object 6086h: Motion profile type

INDEX 6086h
Name Motion profile type
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Default Value 0
Object 6087h: Torque slope

INDEX 6087h
Name Torque slope
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
Comment Unit: millisecond (time from 0 to 100％
rated torque)
Object 6093h: Position factor

INDEX 6093h
Name Position factor
Object Code ARRAY
Access RW
PDO Mapping Yes
Comment Position factor =
Numerator / Feed_constant
Sub-Index 0
Data Type UNSIGNED8
Access RO
PDO Mapping No
6-23
Value Range 2
Default Value 2
Sub-Index 1
Description Numerator
Access RW
PDO Mapping Yes
Default Value 1
Comment Same as P1-44
Sub-Index 2
Description Feed_constant
Access RW
PDO Mapping Yes
Default Value 1
Comment Same as P1-45
Object 6098h: Homing method

INDEX 6098h
Name Homing method
Object Code VAR
Data Type INTEGER8
Access RW
PDO Mapping Yes
Value Range 0 ~ 35
Default Value 0
Index Pulse
Negtive Limit Switch
Method 1: homing on negative limit switch and index pulse
6-24
Index Pulse
Positive Limit Switch
Method 2: homing on positive limit switch and index pulse
Index Pulse
Home Switch
Methods 3 and 4: homing on positive home switch and index pulse
Index Pulse
Home Switch
Methods 5 and 6: homing on negative home switch and index pulse
6-25
8 10
7 9
7 10
8 9
7 9
8 10
Index Pulse
Home Switch
Positive Limit Switch
14 12
13 11
14 11
13 12
13 11
14 12
Index Pulse
Home Switch
Negative Limit Switch
Methods 7 to 14: homing on home switch and index pulse
Methods 15 and 16: reserved (no picture)
19
19
Home Switch
Methods 17 to 30: Homing without an index pulse

Note: Methods 19 and 20 are the same. So are Methods 21 and 22, Methods 23 and 24,
Methods 25 and 26, Methods 27 and 28, and Methods 29 and 30.
Methods 31 and 32: reserved (no picture)
6-26
33
34
Index Pulse
Methods 33 to 34: homing on index pulse

Method 35: homing on current position (no picture)
Object 6099h: Homing speed

INDEX 6099h
Name Homing speed
Object Code ARRAY
Access RW
PDO Mapping Yes
Sub-Index 0
Data Type UNSIGNED8
Access RO
PDO Mapping Yes
Value Range 2
Default Value 2
Sub-Index 1
Description Speed during search for switch
Access RW
PDO Mapping Yes
Value Range 1 ~ 2000 rpm
Default Value 100
Sub-Index 2
Description Speed during search for zero
Access RW
6-27
PDO Mapping Yes

Value Range 1 ~ 500 rpm
Default Value 20
Object 609Ah: Homing acceleration

INDEX 609Ah
Name Homing acceleration
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 100
Comment Unit: millisecond (time of acc from 0 rpm to
3000 rpm)
6-28
Object 60B0h: Position offset

INDEX 60B0h
Name Position offset
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
Object 60B1h: Velocity offset

INDEX 60B1h
Name Velocity offset
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
Default Value 0
Object 60B2h: Torque offset

INDEX 60B2h
Name Torque offset
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Value Range 3000 ~ -3000
Default Value 0
6-29
Object 60B8h: Touch probe function

INDEX 60B8h
Name Touch probe function
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
Comment 0
Object 60B9h: Touch probe status

INDEX 60B9h
Name Touch probe status
Object Code VAR
Access RO
PDO Mapping Yes
Default Value 0
Comment 0
Object 60BAh: Touch probe pos1 pos value

INDEX 60BAh
Name Touch probe pos1 pos value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
6-30
Object 60BBh: Touch probe pos1 neg value

INDEX 60BBh
Name Touch probe pos1 neg value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
Object 60BCh: Touch probe pos2 pos value

INDEX 60BCh
Name Touch probe pos2 pos value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
Object 60BDh: Touch probe pos2 neg value

INDEX 60BDh
Name Touch probe pos2 neg value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Default Value 0
Comment Unit: PUU
6-31
Object 60C0h: Interpolation sub mode select

INDEX 60C0h
Name Interpolation sub mode select
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Default Value 0
Comment 0: manufacturer specific
(Linear interpolation -- no need the Pos
Difference [OD-60C1sub2])
-1: manufacturer specific
(Delta definition -- need pos difference
[OD-60C1sub2])
Object 60C1h: Interpolation data record

INDEX 60C1h
Name Interpolation data record
Object Code ARRAY
Data Type INTEGER32
Access RW
PDO Mapping Yes
Comment Set this record by PDO every T msec
before SYNC message where T is specified
by 60C2h: 01h
Sub-Index 0
Data Type UNSIGNED8
Access RO
PDO Mapping No
Value Range 2
Default Value 2
Sub-Index 1
Description Pos_Cmd
Data Type INTEGER32
Access RW
6-32
PDO Mapping Yes

Default Value 0
Comment Unit: 32-bit CMD_PUU
Sub-Index 2
Description Velocity – Pos_Cmd difference
Data Type INTEGER16
Access RW
PDO Mapping Yes
Default Value 0
Comment △Xi = (Xi+1 – Xi-1)/2
(It is also the same as velocity.)
Unit: PUU
Object 60C2h: Interpolation time period

INDEX 60C2h
Name Interpolation time period
Object Code RECORD
Data Type UNSIGNED8
Access RW
PDO Mapping Yes
Comment The unit of the interpolation time unit is
given in 10interpolation time index seconds
Sub-Index 0
Data Type UNSIGNED8
Access RO
PDO Mapping No
Value Range 2
Default Value 2
Sub-Index 1
Description Interpolation time units
Data Type UNSIGNED8
Access RW
PDO Mapping Yes
6-33

Default Value 1
Sub-Index 2
Description Interpolation time index
Data Type INTEGER8
Access RW
PDO Mapping Yes
Value Range -128 ~ 63
Default Value -3
Object 60C5h: Max acceleration

INDEX 60C5h
Name Max acceleration
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 200
Comment Unit: millisecond (min. time from 0 rpm to
3000 rpm)
Object 60C6h: Max deceleration

INDEX 60C6h
Name Max deceleration
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 200
Comment Unit: millisecond (min. time from 3000 rpm
to 0 rpm)
6-34
Object 60F2h: Positioning option code

INDEX 60F2h
Name Positioning option code
Object Code VAR
Access RW
PDO Mapping Yes
Default Value 0
Object 60F4h: Following error actual value

INDEX 60F4h
Name Following error actual value
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Comment Unit: PUU
Object 60FCh: Position demand value*

INDEX 60FCh
Name Position demand value*
Object Code VAR
Data Type INTEGER32
Access RO
PDO Mapping Yes
Comment Unit: increment
6-35
Object 60FDh: Digital inputs
INDEX 60FDh
Name Digital inputs
Object Code VAR
Access RO
PDO Mapping Yes
Default Value 0
Object function:
Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Negative limit
Bit 0 -
switch
Positive limit
Bit 1 -
switch
Bit 2 Home switch -
Bit 3 - 15 - -
Manufacturer- Set P3-18 U = 1 or 2 and this bit is mapped to
Bit 16
specific area DI 1.
Bit 17
specific area DI 2.
Bit 18
specific area DI 3.
Bit 19
specific area DI 4.
Bit 20
specific area DI 5.
Bit 21
specific area DI 6.
Manufacturer- Set P3-18 U= 1 or 2 and this bit is mapped to
Bit 22
specific area DI 7.
Manufacturer-
Bit 23 Reserved.
specific area
Bit 24
specific area EDI 9.
Manufacturer- Set P3-18 U = 1 or 2 and this bit mapped to
Bit 25
6-36

Manufacturer- Set P3-18 U = 1 or 2 and this it is mapped to
Bit 26
Bit 27
Bit 28
Bit 29
Manufacturer-
Bit 30 Reserved.
specific area
Manufacturer- Set P3-18 U = 2 and this bit is mapped to the
Bit 31
specific area Z pulse of encoder.
Object 60FFh: Target velocity

INDEX 60FFh
Name Target velocity
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
Object 6502h: Supported drive modes

INDEX 6502h
Name Supported drive modes
Object Code VAR
Access Ro
PDO Mapping Yes
Default Value 3EDh
6-37
Object 2xxxh: Manufacturer parameter

INDEX 2xxxh
Name Manufacturer parameter
Object Code VAR
Data Type INTEGER16 / INTEGER32
Access RW
PDO Mapping Yes
Value Range NTEGER16 / INTEGER32
Default Value N/A
Object 2xxx is defined to parameter.
If you desire to use CANopen protocol for accessing parameter values, the conversion
between parameter number and index is as follows:
Pa-bc <==> 2aBCh
‘BC’ is hexadecimal format of ‘bc’
You can read the Index first for knowing the Length of Parameter and then change the
data by SDO or PDO.
Example 1: Object 2309h: EtherCAT Synchronization Setting【P3-09】
INDEX 2309h
Name EtherCAT Synchronization Setting
Object Code VAR
Data Type INTEGER16
Access RW
PDO Mapping Yes
Default Value 1512 h
6-38
Example 2: Object 212Ch: Electronic Gear 【P1-44】
INDEX 212Ch
Name Electronic Gear
Object Code VAR
Data Type INTEGER32
Access RW
PDO Mapping Yes
6-39
6-40
Chapter 7 Safety Function
(Safe Torque Off, STO)
7.1 Description of Terminal Block
CN-STO Connector (male)
Terminal
Pin No. Function and Description
Symbol
*1 COM+ VDD (24V) power is identical to Pin 5 of CN1
2 STO_A STO input pin A+
3 /STO_A STO input pin A-
4 STO_B STO input pin B+
5 /STO_B STO input pin B-
STO alarm output pin A,
6 FDBK_A
BJT maximum rated output: 80 VDC, 0.5 A
STO alarm output pin B,
7 FDBK_B
BJT maximum rated output: 80 VDC, 0.5 A
8 COM- VDD (24V) power ground
 *1: do not apply to dual power or it may damage the servo drive.
7-1
ASDA A2-E Chapter 7 Safety Function (Safe Torque Off, STO)
STO with safety relay:

STO
1 COM+
ESTOP
24V DC 2 STO_A
3
/ STO_A
Safety Relay
4 STO_B
5
/ STO_B
6 FDBK_A
7
FDBK_B
8 COM-
Disable STO:
STO
1 COM+
2 STO_A
3
/ STO_A
4 STO_B
5
/ STO_B
6 FDBK_A
7
FDBK_B
8 COM-
7-2
Chapter 7 Safety Function (Safe Torque Off, STO) ASDA A2-E
7.1.1 Functional Safety Standard and Certificates

Refer to Chapter 9.
7.2 STO Safety Function
Fault Rate of Safety Function
Item Definition Standard Features

Channel 1: 80.08%
SFF Safe Failure Fraction IEC61508
Channel 2: 68.91%
HFT (Type A
Hardware Fault Tolerance IEC61508 1
subsystem)
IEC61508 SIL 2
SIL Safety Integrity Level
IEC62061 SILCL 2
Average frequency of dangerous
PFH IEC61508 9.56×10-10
failure [h-1]
Probability of Dangerous Failure
PFDav IEC61508 4.18×10-6
on Demand
Category Category ISO13849-1 Category 3
PL Performance Level ISO13849-1 d
MTTFd Mean time to dangerous failure ISO13849-1 High
DC Diagnostic Coverage ISO13849-1 Low
How does Safety Function Work?

The STO function is controlled by the motor current from two individual circuits, which can
cut off the power supply when needed, after which the motor is free from torque force.
See Table 1 for the actions description.
Table 1: ON = 24V OFF = 0V

Signal Channel Status of Opto-Isolator
STO_A
ON ON OFF OFF
~ / STO_A
STO signal
STO_B
ON OFF ON OFF
~ / STO_B
STO_B lost STO_A lost
STO Mode
Servo drive output status Ready (AL502) (AL501)
(Torque off)
(Torque off) (Torque off)
7-3
(1) Status description of STO alarms:

See the figure below. When the motor runs properly (Servo On), if STO_A and STO_B
signals (which are also called safety signals) are lost for 10 ms at the same time, AL500
occurs. Then, the servo drive will be in Servo Off status.
10 ms
STO_A
H L
STO_B
H L
S_ON
ON OFF
Servo
status Servo on Servo off & AL500
See the figure below. When the motor runs properly (Servo On), when one of the safety
signal is lost for 1 s, AL501 or AL502 will occur. Then, the servo drive will be in Servo Off
status.
1s
STO_A
H L
H
STO_B
L
S_ON
ON OFF
Servo
status Servo on Servo off & AL501
7-4
7.3 Related Parameter Descriptions of STO Function
Through the setting of P2-93, you can determine FDBK status and if FDBK will latch when
an STO alarm occurs. Refer to the following figure for the setting of P2-93:
P2-93 = X X 1 0
0: Logic A
1: Logic B
Not in use
2: Logic C
3: Logic D
1: FDBK no latch
2: FDBK latch
Description of STO Function:

See the table below. Four logics (Logic A, Logic B, Logic C, and Logic D) are provided to
standardize FDBK status when different STO alarms occur. You can select the
corresponding logic according to the demands. (In this table, Open means FDBK+ and
FDBK- of CN8 are open circuit. Take Logic C as the example. When AL500 occurs, FDBK+
and FDBK- of CN8 are short-circuited.)
FDBK_A & FDBK_B Status

Status of servo drive
Logic A Logic B Logic C Logic D
Parameter P2-93 XX10 XX20 XX11 XX21 XX12 XX22 XX13 XX23
No No No No
FDBK behavior Latch Latch Latch Latch
Latch Latch Latch Latch
No STO alarm
Open Close Open Close
occurs
AL500 occurs Close Open Close Open
AL501 occurs Close Open Open Close

Alarm
occurs
Open = open circuit; Close = close circuit
If FDBK is latched, when an STO alarm occurs, status of FDBK will remain even when the
alarm has been cleared. Note that when more than one alarm occur at the same time, the
drive panel will only display AL500.
 Example of Latch:
If Logic C P2-93 = XX22 is set, the FDBK status will be close when the safety signal is
lost and AL005 occurs.
1. Since FDBK is selected as Latch, even when the safety signal is back to normal,
FDBK status still remains close. Use the approaches below to reset.
i. Reconnect power supply. FDBK status returns to open.
ii. Do not reconnect power supply. Instead, set P2-93 = XX12 to make
FDBK status return to open. Then set P2-93 = XX22 again. This step is to
set FDBK behavior to Latch.
7-5
2. After the FDBK status restores, alarms can be cleared by normal corrective actions.
In this case, AL500 can be cleared by DI.Alm Reset.
 Example of No Latch:
If Logic C P2-93 = XX12 is set, the FDBK status will be close when the safety signal is
lost and AL005 occurs.
1. Since FDBK is selected as No Latch, the safety signals return to normal and the
FDBK status automatically changes from short-circuited to normal when AL500
occurs. You do not need to set P2-93 to XX12 again.
2. After the FDBK status restores, alarms can be cleared by normal corrective
actions. In this case, AL500 can be solved by DI.Alm Reset.
Address：02BAH
P2-93 STO STO FDBK Control
02BCH
Interface： Panel / Software Communication Reference： -
Default： 0 Control Mode： ALL
Unit： - Range： -
Format： DEC Data Size： 16-bit
Settings：
BIT0: select the logic for FDBK status.
BIT1: determine if FDBK should be latched.
7.4 Related Alarm Descriptions of STO Function
Corrective Corresponding Servo

Display Alarm Name Checking Method
Actions DO Status
DI.ARST or
Safety function (STO) is
write 0 into
STO function is manually enabled. Servo
AL500 P0-01 or ALM
enabled Please check the Off
0x6040.Fault
causes.
Reset
STO_A loss
Make sure the wiring of Servo
AL501 (signal loss or Power cycling ALM
STO_A is correct. Off
signal error)
STO_B loss
Make sure the wiring of Servo
AL502 (signal loss or Power cycling ALM
STO_B is correct. Off
signal error)
Internal circuit of STO_A
STO circuit
~ / STO_A and STO_B ~ Servo
AL503 STO_error error. Contact ALM
/ STO_B is diagnosed as Off
the distributors.
error.
7-6
Causes and Corrective Actions:

AL500: STO Function is enabled
Causes Checking Method Corrective Actions
Safety function (STO) is Safety function (STO) is enabled. DI.ARST or write 0 into P0-01 or
enabled Please check the causes. 0x6040.Fault Reset.
AL502: STO_A loss (signal loss or signal error)

STO_A loses enable
signal or STO_A signal
Make sure the wiring of STO_A is
does not synchronize Power cycling.
correct.
with STO_B signal for
more than 1 second.
AL502: STO_B loss (signal loss or signal error)

STO_B loses enable
signal or STO_A signal
Make sure the wiring of STO_B is
does not synchronize Power cycling.
correct.
with STO_B signal for
more than 1 second.
AL503: STO_error
Check if the wiring between STO_A STO circuit error. Contact the
STO self-diagnostic error
and STO_B is correct. distributors.
7-7
7-8
Chapter 8 Parameters
The basic parameters for A2-E are the same as those for the general A2 models, so refer
to ASDA-A2 User Manual for more details. The following introduces EtherCAT-related
parameters only.
Address: 0324H
P3-18 ECATO EtherCAT Special Function Switch
0325H
Interface: Panel / Software Communication Reference: -
Default: 0x00002000 Control Mode: EtherCAT
Unit: - Range: 0x00000000~00112101
Format: HEX Data Size: 32-bit
Settings:
D C B A U Z Y X
Source for EtherCAT Station Alias Select the unit for speed command
A X
Register 0x0012 and speed feedback
Calculating methods for OD 60F4h
B Y Reserved
position error
Set the checking method for
C Reserved Z
communication disconnection
Set the manufacturer-specific area
D Reserved U
for OD 60FDh mapping
h High bit L Low bit
 X: in Profile Velocity mode or CSV mode, select the unit for speed command (OD 60FF)
and speed feedback (OD 606C).
0: 0.1 rpm
1: pulse/sec
 Y: reserved.
 Z: set the checking method for communication disconnection (AL185).
0: check for the disconnection after the EtherCAT communication is in OP status.
1: check for the disconnection after the EtherCAT communication is in INIT status.
 U: set the manufacturer-specific area for OD 60FDh mapping (see detailed information in
Chapter 6)
0: disabled. The manufacturer-specific area is not in use.
1: map DI/EDI status to the manufacturer-specific area of OD 60FDh.
2: map the Z pulse of the encoder and DI/EDI status to the manufacturer-specific area of
OD 60FDh.
 A: set the source for the content of EtherCAT Station Alias Register 0x0012 after applying
power to the drive.
0: determined by the value in EtherCAT EEPROM address field (ADR 0x0004) set through
the controller interface.
8-1
ASDA A2-E Chapter 8 Parameters
1: determined by the address set in P3-00.

 B: calculating method for OD 60F4h position deviation
0: calculated by the motion controller.
1: directly calculated by the motor (pos_err), and then converted with the E-gear ratio.
Address: 0326H
P3-19 CSTSA Statusword Status Display Setting
0327H
Default: 0x0021 Control mode: CANopen/EtherCAT
Unit: - Range: 0x0000~0x1121
Format: HEX Data size: 16-bit
Settings:
U Z Y X
X OD 6041h Bit 4 status

Y OD 6041h Bit 10 status
Z OD 6041h Bit 14 status
U OD 6041h Bit 15 status
 X: OD 6041h Bit 4 status (applicable to EtherCAT only)

0: the bit is On
1: RST output status
 Y: OD 6041h Bit 10 status (applicable to EtherCAT only)
0: in CSP mode, OD 6041h Bit 10 is invalid.
2: in CSP mode, OD 6041h Bit 10 is in Target Reach status.
 Z: OD 6041h Bit 14 status (applicable to CANopen/EtherCAT)
0: OD 6041h Bit 14 is in positive limit status.
1: OD 6041h Bit 14 outputs the current status of the servo and controller synchronization. If
it shows On, it means they have already been synchronized (SYN_OK).
 U: OD 6041h Bit 15 status (applicable to CANopen / EtherCAT)
0: OD 6041h Bit 15 is in negative limit status.
1: N/A
Address: 032CH
P3-22 EPTO EtherCAT PDO Timeout Setting
032DH
Default: 0xFF04 Control mode: EtherCAT
Unit: - Range: 0x0002~0xFF14
Format: HEX Data size: 16-bit
Settings:
When exchanging Process Data with PDOs, you can set the two sets of value below to monitor
the number of continuous packet loss and thus triggering the alarm if the number is exceeded.
8-2
Chapter 8 Parameters ASDA A2-E
U Z Y X
YX Allowable cycle times of packet loss for AL3E3

UZ Allowable time for AL180
 YX: allowable cycle times of packet loss for AL3E3

When in synchronous modes (IP/CSP/CSV/CST), use this parameter to set the allowable
consecutive cycle times for packet loss within the range from 0x02 to 0x14. If the cycle time
exceeds the range, AL3E3 occurs.
Example: the communication cycle time is 4 ms, and if you set this parameter to 02, it
means 2 cycle times are permissible. That is, if A2-E does not receive a PDO within 8 ms, it
triggers AL3E3.
 UZ: allowable time for AL180 (applicable to all modes)
Calculate the consecutive milliseconds for not receiving PDOs. The allowable range is from
0x00(disabled) to 0xFF(default). If the time exceeds the range, AL180 occurs.
8-3
ASDA A2-E Chapter 8 Parameters
8-4
Chapter 9 Alarm List
9.1 EtherCAT Communication Fault Messages
Emergency Object
Byte 0 1 2 3 4 5 6 7
Emergency Error Error
Content Panel Alarm Code N/A
Code register
Fault Messages
(If ALARM code is not showed here, refer to the ASDA-A2 User Manual)
Display Fault Name Fault Description Clearing Method
Communication
AL185 EtherCAT link is disconnected. 6040h fault reset
disconnected
CANopen RxPDO The drive does not receive any RxPDO

AL180 6040h fault reset
timeout (Servo Off) within three communication cycle times.
Sub-index error
occurs when The specified Sub-index in the message
accessing CANopen does not exist.
PDO object.
Data type (size) error

occurs when The data length in the message does not
accessing CANopen match the specified object.
PDO object.
Data range error

occurs when The data in the message has exceeded the
accessing CANopen data range of the specified object.
PDO object.
CANopen PDO The specified object in the message is read-

AL125 object is read-only only and write-protected (cannot be 6040h fault reset
and write-protected. changed).
CANopen PDO
The specified object in the message does
AL126 object does not 6040h fault reset
not support PDO.
support PDO.
9-1
ASDA A2-E Chapter 9 Alarm List
CANopen PDO
The specified object in the message is
object is write-
AL127 write-protected (cannot be changed) when 6040h fault reset
protected when
Servo On.
Servo On.
Error occurs when An error occurs when loading the default

reading CANopen settings from EEPROM at start-up. All
PDO object from CANopen objects return to the default
EEPROM. settings automatically.
Error occurs when

writing CANopen An error occurs when writing the current
PDO object into settings into EEPROM.
EEPROM.
The data amount saved in EEPROM has

exceeded the space determined by the
EEPROM invalid
AL130 firmware orthe firmware version has been 6040h fault reset
address range
upgraded, so the data of the old firmware
version saved in EEPROM cannot be used.
The data saved in EEPROM has been

EEPROM checksum
AL131 damaged and all CANopen objects return to 6040h fault reset
error
the default settings automatically.
The parameter is password-protected when

using CANopen communication to access
AL132 Password error 6040h fault reset
the parameter. The users must enter the
valid password to unlock the parameter.
Set P2-08 = 10 or
CANopen load/save An error occurs while reading / writing data P2-08 = 30, and
AL201
1010/1011 error from / to EEPROM. then 28 after
firmware upgrade.
CANopen SYNC The synchronous communication with the

AL3E1 6040h fault reset
failed (Servo Off) external controller has failed.
CANopen SYNC
The CANopen SYNC signal is received too
AL3E2 signal error (Servo 6040h fault reset
soon.
Off)
The CANopen SYNC signal is not received

within four consecutive communication
CANopen SYNC cycle times. If the interference is too great
AL3E3 6040h fault reset
time out (Servo Off) to be removed by the hardware, increase
the communication cycle for P3-22 XY to
loosen the condition for triggering AL3E3.
9-2
Chapter 8 Alarm List ASDA A2-E
CANopen IP
Internal command of CANopen IP mode
AL3E4 command failed 6040h fault reset
cannot be sent and received.
(Servo Off)
SYNC period error

AL3E5 SYNC period 1006h value is invalid. 6040h fault reset
(Servo Off)
The safety function (STO) is enabled.

Safe torque enabled
AL500 STO_A and STO_B change state 6040h fault reset
(Servo Off)
simultaneously.
STO_A is de-energized and STO_B is

energized. STO_A signal does not
STO_A loss (Servo
AL501 synchronize with STO_B signal for more 6040h fault reset
Off)
than 1 second. Check wiring contact or STO
safety relay.
STO_A is energized and STO_B is de-

energized. STO_A signal does not
STO_B loss (Servo
AL502 synchronize with STO_B signal for more 6040h fault reset
Off)
than 1 second. Check wiring contact or STO
safety relay.
STO_error (Servo
AL503 STO self-diagnostic error. 6040h fault reset
Off)
9-3
9.2 Error Code Table
32bit-ErrorCode
Display Description (16bit-ErrorCode +
16bit-Additional Info)
AL001 Overcurrent 2310-0001h
AL002 Overvoltage 3110-0002h
AL003 Undervoltage 3120-0003h
AL004 Motor error 7122-0004h
AL005 Regeneration error 3210-0005h
AL006 Overload 3230-0006h
AL007 Overspeed 8400-0007h
AL008 Abnormal pulse control command 8600-0008h
AL009 Excessive deviation 8611-0009h
AL010 Reserved 0000-0010h
AL011 Encoder error 7305-0011h
AL012 Adjustment error 6320-0012h
AL013 Emergency stop activated 5441-0013h
AL014 Reverse limit switch error 5443-0014h
AL015 Forward limit switch error 5442-0015h
AL016 IGBT temperature error 4210-0016h
AL017 Memory error 5330-0017h
AL018 Encoder output error 7306-0018h
AL019 Serial communication error 7510-0019h
AL020 Serial communication time out 7520-0020h
AL021 Reserved Reserved
AL022 Input power phase loss 3130-0022h
AL023 Early warning for overload 3231-0023h
AL024 Encoder initial magnetic field error 7305-0024h
AL025 Encoder internal error 7305-0025h
AL026 Unreliable internal data of the encoder 7305-0026h
9-4
AL027 Encoder data error 7305-0027h
AL030 Motor protection error 7121-0030h
AL031 U,V,W wiring error 3300-0031h
AL040 Full-closed loop excessive deviation 8610-0040h
AL099 DSP firmware upgrade 5500-0099h
AL201 CANopen Data Initial Error 6310-0201h
AL283 Forward software limit 5444-0283h
AL285 Reverse software limit 5445-0285h
AL185 EtherCAT connection error (Servo Off) 8120-0185h
AL180 Node guarding or Heartbeat error (Servo Off) 8130-0180h
Sub-index error occurs when accessing CANopen

AL122 8200-0122h
PDO object.
Data type (size) error occurs when accessing

AL123 8200-0123h
CANopen PDO object.
Data range error occurs when accessing CANopen

AL124 8200-0124h
PDO object.
AL125 CANopen PDO object is read-only and write-protected. 8200-0125h
AL126 CANopen PDO object does not support PDO. 8200-0126h
CANopen PDO object is write-protected when Servo

AL127 8200-0127h
On.
Error occurs when reading CANopen PDO object from

AL128 8200-0128h
EEPROM.
Error occurs when writing CANopen PDO object into

AL129 8200-0129h
EEPROM.
AL130 EEPROM invalid address range. 8200-0130h
AL131 EEPROM checksum error. 8200-0131h
AL132 EEPROM zone error. 8200-0132h
AL201 CANopen load/save 1010/1011 error 6310-0201h
AL3E1 CANopen SYNC failed (Servo Off) 6200-03E1h
AL3E2 CANopen SYNC signal error (Servo Off) 6200-03E2h
9-5
AL3E3 CANopen SYNC time out (Servo Off) 6200-03E3h
AL3E4 CANopen IP command failed (Servo Off) 6200-03E4h
AL3E5 SYNC period error (Servo Off) 6200-03E5h
AL500 Safe torque off (Servo Off) 9000-0500h
AL501 STO_A lost (Servo Off) 9000-0501h
AL502 STO_B lost (Servo Off) 9000-0502h
AL503 STO_error (Servo Off) 9000-0503h
9-6
9.3 SDO Error Message Abort Codes
Abort Code Description
05040001 h Client / server command specifier not valid or unknown
06010002 h Attempt to write a read-only object
06020000 h Object does not exist in the object dictionary
06040041 h Object cannot be mapped to PDO
The number and the length of the objects to be mapped would exceed PDO
06040042 h
length
06060000 h Access failed due to a hardware error (store or restore error)
06070010 h Data type does not match; length of the service parameter does not match
06090011 h Sub-index does not exist
06090030 h Value range of parameter exceeded (only for writing access)
08000000 h General error
080000a1 h Object error when reading from EEPROM
080000a2 h Object error when writing to EEPROM
080000a3 h Invalid range when accessing EEPROM
080000a4 h Checksum error when accessing EEPROM
080000a5 h Password error when writing encryption zone
08000020 h Data cannot be transferred or stored in the application
Data cannot be transferred or stored in the application because of the local

08000021 h
control (store or restore in wrong state)
08000022 h Object is on the fly
9-7
9-8
Chapter 10 Reference
1. CANopen Application Layer and Communication Profile, CiA Draft Standard 301,
Version 4.02, Date: 13 February 2002
2. CANopen Device Profile Drives and Motion Control, CiA Draft Standard Proposal 402,
Version 2.0, Date: 26 July 2002
10-1
Chapter 10 Reference ASDA A2-E
10-2

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ASDA A2-E EtherCAT Interface Servo Drive User Manual

Industrial Automation Headquarters

ASDA A2-E EtherCAT

Delta Electronics (Thailand) PCL.

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 ............................................................................................... 1-5

1.5 Wiring .......................................................................................................... 1-6

1.5.1 Explanation of I/O (CN1) Connector Signal ............................................ 1-7

1.5.2 CN2 Connector....................................................................................... 1-8

1.5.3 CN5 Connector (Full-closed Loop) ......................................................... 1-9

1.5.4 CN6 EtherCAT Terminal......................................................................... 1-10

1.5.5 CN7 Extension DI ................................................................................... 1-11

1.5.6 CN-STO.................................................................................................. 1-12

1.5.7 STO with Safety Relay ........................................................................... 1-13

1.5.8 Disable STO ........................................................................................... 1-14

1.6 Dimensions .................................................................................................. 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

2.3.1 Two Synchronization Modes of Delta Servo Drive ................................. 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 Switching 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

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

5.3.3 Operation Procedures ............................................................................ 5-7

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