Product Overview

The ASD-A2-0721-E (ASDA20721E) is a premier 750 W AC Servo Drive from Delta’s high-performance ASDA-A2 series. Designed for precision motion control in 220 V single-phase or three-phase environments, the "E" type model is a specialized version featuring an integrated EtherCAT communication interface. This allows the drive to serve as a high-speed slave node in complex, synchronized multi-axis systems controlled by a PC-based or dedicated EtherCAT master. With advanced features such as electronic cam (E-CAM) profiles, high-resolution encoder support, and dual-loop control, the ASD-A2-0721-E is the industry standard for high-speed packaging, automated assembly, and semiconductor processing equipment.

Technical Configuration

The ASD-A2-0721-E is engineered for the demands of Industry 4.0. The EtherCAT interface supports the CoE (CANoverEtherCAT) protocol with a minimum cycle time of 250 $\mu s$, ensuring near-instantaneous response to master commands. The drive supports 20-bit resolution feedback (1,280,000 pulses/rev), providing the smoothness required for high-precision finishes and stable low-speed operation. It also includes an auxiliary encoder interface for Full-Closed Loop Control, which allows the drive to read position data directly from a linear scale to eliminate mechanical backlash. Built-in vibration suppression and notch filters automatically identify and neutralize mechanical resonance, ensuring stable performance even at high gains.

Technical Specifications

Technical FAQs

What are the specific advantages of the "E" type EtherCAT model?

The EtherCAT interface provides a massive leap in data throughput and synchronization compared to traditional pulse-train or Modbus control. It allows for "Distributed Clock" (DC) synchronization, ensuring that all axes in a multi-axis machine move at the exact same microsecond, which is essential for high-speed contouring and coordinated motion.

Can the ASD-A2-0721-E perform E-CAM functions over EtherCAT?

Yes. While the master controller typically handles trajectories, the ASD-A2-0721-E can store internal E-CAM tables. This is highly effective for "Flying Shear" or "Rotary Cut" applications where the drive can execute a complex slave curve based on an EtherCAT master position, reducing the communication load on the network.

Is it possible to use this drive with a third-party EtherCAT master?

Yes. Delta’s A2-E series follows the standard CiA402 drive profile. This makes it compatible with various EtherCAT masters, including Beckhoff (TwinCAT), OMRON (Sysmac), and PC-based controllers using specialized EtherCAT stacks.

Engineering & Installation Guide

• EtherCAT Cabling: For stable high-speed communication, use Category 5e (or higher) shielded twisted-pair (SF/UTP) cables. Ensure the cable length between nodes does not exceed 100 meters. Always use the "IN" and "OUT" ports correctly to maintain the EtherCAT daisy-chain topology.

• Backlash Compensation: If your system uses a gearbox or lead screw with play, utilize the Full-Closed Loop interface. Connect a linear scale to the CN6 port. This allows the drive to use the motor encoder for velocity control and the linear scale for final position verification, ensuring the 750 W output is applied precisely where the load needs it.

• Grounding and Noise: Because EtherCAT is sensitive to high-frequency noise, ensure the drive is mounted to a grounded metal backplate. The motor power cable should be shielded, and the shield should be clamped 360° to the ground plate near the drive to prevent EMI from disrupting the Ethernet telegrams.