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ASDA-A3
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Wiring
3.8 Wiring for CN5 connector (applicable to full-closed loop) ··························3-110
3.9 Wiring for CN6 connector ··································································3-112
3.9.1 Wiring for the DMCNET communication connector ····························3-112
3.9.2 Wiring for the EtherCAT communication connector ····························3-114
3.10 CN10 STO (Safe Torque Off) function·················································3-117
3.10.1 Introduction to STO ··································································3-117
3.10.2 Precautions for using STO function ··············································3-117
3.10.3 Potential risks of STO ·······························································3-118
3.10.4 Safety parameters ····································································3-119
3.10.5 How does the STO function work? ···············································3-120
3.10.5.1 Response time······························································3-120
3.10.5.2 Alarm triggering·····························································3-121
3.10.5.3 STO deactivation settings················································3-123
3.10.6 Wiring for STO·········································································3-128
3.10.6.1 CN10 STO connector ·····················································3-128
3.10.6.2 Input / output signal specification ······································3-129
3.10.6.3 Not using the STO function ··············································3-130
3.10.6.4 Using the STO function for a single drive ····························3-130
3.10.6.5 Using the STO function for multiple drives···························3-131
3.10.7 Validation test··········································································3-132
3.11 220V series – Standard wiring example ··············································3-133
3.11.1 Position (PT) control mode – differential line driver signal input···········3-133
3.11.2 Position (PT) control mode – open-collector signal input ···················3-134
3.11.3 Position (PR) control mode – internal position commands ·················3-135
3.11.4 Speed (S) control mode ·····························································3-137
3.11.5 Torque (T) control mode·····························································3-139
3.11.6 Communication mode (CANopen) ················································3-141
3.11.7 Communication mode (DMCNET) ················································3-142
3.11.8 Communication mode (EtherCAT) ················································3-143
3.12 400V series – Standard wiring example ··············································3-144
3.12.1 Position (PT) control mode – differential line driver signal input ··········3-144
3.12.2 Position (PT) control mode – open-collector signal input ···················3-145
3.12.3 Position (PR) control mode – internal position commands ·················3-146
3.12.4 Speed (S) control mode·····························································3-148
3.12.5 Torque (T) control mode ····························································3-150
3.12.6 Communication mode (CANopen)················································3-152
3.12.7 Communication mode (DMCNET)················································3-153
3.12.8 Communication mode (EtherCAT)················································3-154
3
3-3
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