To make this work, both axes must be CSV servo type.  The Delta ASDA-A2 can be set  to CSV with DRIVE_MODE AXIS(0) = 2.  DRIVE_PROFILE can be 0 or 1.

The encoder is the tricky part.  You must also make that a servo axis, so I suggest you create an EC_EXTEND for the encoder that uses CSV servo instead of ENCODER as the mode.

Example:

The above is not exact.  It will depend on your encoder.

Both axes will need to have FEC codes to enable them to run.  Then use ADD_DAC and ADDAX.