Automation for a Changing World
Delta AC Servo System
ASDA-M Series
w w w. d e l t a w w. c o m
Introduction to the ASDA-M Series
Delta's ASDA-M Series is a three-axis intelligent AC servo system which has successfully
integrated control, motion and drive into one servo system and is ideal for multi-axis motion control
applications. With this innovative 3-in-1 design, the ASDA-M demonstrates a perfect combination of
motion controller and servo system, and has received excellent feedback from customers.
The development of the ASDA-M is in response to positive market feedback on our ASDA-A2.
The ASDA-M offers high resolution, high frequency response, built-in electronic cam (E-Cam),
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advanced design to meet a variety of applications for all types of industrial automation machines.
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provide 3 axes synchronous motion control and it supports real-time data exchange among 3 axes
without any time delay. Users can perform 3-axis linear / arc / helical interpolation functions easily.
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precisely adapted to pure rigid mechanical systems. The upgraded ASDA-Soft software provides a
built-in contour analysis function to strengthen system diagnosis capabilities
apabilities.
The ASDA-M supports DMCNET and CANopen communication protocols.
otocols. Connecting
Conn
necting to DMCNET
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exp
pertise
e in innovation
The ASDA-M is a highly-integrated servo system that demonstratess Delta’s expertise
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changing world.
1
Table of Contents
2
1
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3
ASDA-M Series Features
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17
Servo Drive and Servo Motor Combinations
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19
Model Name Explanation
20
6HUYR'ULYH6SHFL¿FDWLRQV
21
Servo Drive Dimensions
23
Wiring
Servo Motor Features
29
6HUYR0RWRU6SHFL¿FDWLRQV
31
Servo Motor Dimensions
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37
3DUW1DPHVDQG)XQFWLRQV
39
Optional Accessories
Optional Cables and Connectors
Accessories Combinations
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5HJHQHUDWLYH5HVLVWRU6SHFL¿FDWLRQV
DT3
USB Connection Port
for Direct Connection
to Personal Computers
or Notebooks
ASDA-M Series
Servo System
Real Time I/O
(18 Inputs / 9
Outputs)
Z-Axis
Y-Axis
X-Axis
ASDA-M Series Features
Highly Integrated System
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suppression
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3
HMC Series
Controller with Human Machine
Interface
Supports
DMCNET
Communication
Protocol
ASDA-A2 Series Servo Drives
ASD-A2- ＊ -F
DMCNET
High-Speed Motion Control
32 DI / 32 DO
or
16 DI / 16 DO
16-bit 4 D/A
or
16-bit 4 A/D
4-Channel
Pulse
Interface
Real Time, Reliable and High-Speed
Motion Control Network
High Precision, High Performance
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protocols.
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type encoders.
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positioning.
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modules.
4
ASDA-M Series Features
Multi-Axis Synchronous Interpolation
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synchronous control accuracy.
3-Axis Helical Interpolation
3-Axis Linear Interpolation
2-Axis Arc Interpolation
2-Axis Linear Interpolation
5
Advanced Gantry Control
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HI¿FLHQF\DQGSHUIRUPDQFHRIJDQWU\FRQWURO
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the ASDA-M Series can perform precise motion control and drive each axis simultaneously.
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Excellent Synchronous Control
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commands are exchanged
between Axis 1 and Axis 2 every
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Axis 1
Gantry Control
Axis 2
6
ASDA-M Series Features
Distributed Motion Control System - HMC Series serves as a Master
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within 1ms.
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combination of distributed systems to increase effectiveness.
Provides an integrated
development environment
HMC Series
Controller with Human Machine Interface
Ethernet
ASDA-M Series
Servo System
Real Time I / O
(18 Inputs / 9 Outputs )
ASD-M- ＊ -F
RS-485
DMCNET High-Speed
Motion Control
High speed RS-422 (10 Mbps)
Pulse Input
Z- Axis
Y- Axis
I / O Module
X- Axis
32 DI / 32 DO
or
16 DI / 16 DO
I / O Module
ECMA Series Servo Motors
Manual Pulse Generator (MPG)
7
Contour Analysis Function in ASDA-Soft
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Contour
analysis of position feedback
兩軸馬達位置回授做循圓分析
signals between two servo motors
Contour Test
循圓測試
8
ASDA-M Series Features
Flexible Electronic Cam (E-Cam)
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one master axis.
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determined by parameter settings that
users can change freely.
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方⨎₶巨
Electronic
Cam (E-Cam)
High Responsiveness
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Ŷ7DNHVRQO\PVWRDFFHOHUDWHIURP3000 r/min to 3000 r/min.
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Time (ms)
Time (ms)
9
Excellent Suppression Functions
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machine edges effectively.
Motor Control Arm
Vibration at Machine Edge
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Auto Notch Filter
30
Torque (Amp)
20
10
0
-10
-20
-30
0
1
2
3
4
Before Suppression
5
6
7
t (sec)
After Suppression
Speed (rpm)
2000
1500
1000
500
0
-500
-1000
-1500
-2000
0
1
3
2
4
Auto Notch Filter Starts
10
5
6
7
t (sec)
ASDA-M Series Features
Full-Closed Loop Control Function
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the machine and ensures the accuracy of positioning.
Motor Encoder
Z
Linear Scale
Motor Encoder
Y
Linear Scale
Motor Encoder
X
Linear Scale
11
Versatile PR Mode
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continuous position control.
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instantaneously.
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accuracy and variable speed.
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position mode / Multi-axis linear interpolation mode / 2-Axis arc interpolation mode / 3-Axis helical
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commands for accurate positioning control.
Sequential Command
P_Command 1
Overlap Command
P_Command 1
P_Command 2
A command is executed only when the previous
command is completed.
P_Command 2
The second command is executed after the delay
time or during the deceleration period.
Insertion Command
P_Command 2
P_Command 1
External command triggered
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moment it is inserted.
12
ASDA-M Series Features
Real Time Capture and Compare Functions
Position Latch Function (Capture)
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Motor Encoder
Position Detection Function (Compare)
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Data Array
Linear
Encoder
Pulse
Train
Data Array
Motor Encoder
==
When the record in Data Array is the same as the
detected position, DO3 will output.
Position Detection Function (Compare)
13
High-Accuracy Positioning
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motor operation and enhance the accuracy of positioning.
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Incremental encoder
resolution: 1280000 p/rev
Reliable Communication on High-Speed Motion Control Network
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CANopen communication.
Delta High-speed Communication Network
CANopen Master Module
Maximum 127 axes systems working on the same bus
14
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Ŷ Strong Capture and Compare functions for position latch
and detection help you complete V\VWHPFRQ¿JXUDWLRQ
quickly.
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and rotary cut applications are also offered.
15
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digital oscilloscope is able to quickly record
the status and data of each axis. Real-time
monitoring is easy.
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troubleshooting the system easily and recommending
timely corrective actions.
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enhanced PR control mode. Homing,
point-to-point and other motion control functions for
multi-axis positioning control are easy to achieve.
16
Servo Drive and Servo Motor Combinations
Servo Drives and Servo Motors
Servo Drives
Servo Motors
Examples
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ASD-M-0721- ː
Options:
100W
200W
400W
750W
Options:
100W
200W
400W
750W
750W Servo Drive
Options:
100W
200W
400W
750W
750W
750W
750W
750W Servo Drive
100W
400W
750W
Output Capacity for
One Servo Motor :
750W Max.
Servo Drives
Servo Motors
1.5kW Servo Drive
ASD-M-1521- ː
Options:
Options:
Options:
750W
1kW
1.5kW
750W
1kW
1.5kW
750W
1kW
1.5kW
1.5kW Servo Drive
1.5kW
Output Capacity for
One Servo Motor:
1.5kW Max.
17
1.5kW
1.5kW
1.5kW Servo Drive
750W
1kW
1.5kW
Product Line-up
Servo
Drives
750W
ASD-M-0721 -
1.5kW
ː
ASD-M-1521 -
ː SƋS=8mmƌ
0401 ː SƋS=8mmƌ
0602 ː SƋS=14mmƌ
0604 ː SƋS=14mmƌ
0604 ː H ( H= High Inertiaƌ
0804 ː 7Ƌ7=14 mmƌ
0807 ː SƋS=19mmƌ
0807 ː H ( H= High Inertiaƌ
0907 ː SƋS=16mmƌ
1305 ː SƋS=22mmƌ
1303 ː SƋS=22mmƌ
1306 ː SƋS=22m m ƌ
ː
ECMA-C 1040F
Servo
Motors
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-E
ECMA-G
ECMA-G
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-C
ECMA-E
ECMA-F
ECMA-F
ECMA-E
ECMA-G
ː SƋS=19mmƌ
0807 ː H ( H= High Inertia)
0907 ː SƋS=16mmƌ
0910 ː SƋS=16mmƌ
1010 ː SƋS=22mmƌ
1310 ː SƋS=22mmƌ
1308 ː SƋS=22mmƌ
1313 ː SƋS=22mmƌ
1315 ː SƋS=22mmƌ
1309 ː SƋS=22mmƌ
0807
Note:
1) The boxes ( ƑDWWKHHQGVRIWKHVHUYRGULYHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQV
For the actual model name, please refer to the model explanation of the servo drive.
2) The boxes ( Ƒ ) in the model names of the servo motors represent shaft end/brake or the number of oil seal.
) in the model names of the servo motors represent encoder type. ,QFUHPHQWDOHQFRGHUELW
3) The triangles (
18
=2: Absolute encoder, 17-bit.
Model Name Explanation
ASDA Series Servo Drives
A S D - M - 07 21 - L
3URGXFW1DPH$&6HUYR'ULYH
Model Type
(see the table below)
Series: M
Input Voltage and Phase
21: 220V 1-phase / 3-phase
Rated Output Power
07: 750 W
15: 1.5 kW
Model Type
M
Full-Closed
Control
ĉ
F
ĉ
Type
L
M: Supports CANopen
ĉ
F: Supports DMCNET
CANopen
DMCNET
E-Cam
ĉ
X
ĉ
X
ĉ
ĉ
X
X
X
L: Pure Servo
ECMA Series Servo Motors
ECM A - C1 06 02 E S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical Commutation
Motor
Shaft Type and
Oil Seal
Driving Type
A: AC Servo Motor
Series
Rated Voltage / Rated Speed
C: 220V / 3000r/min
E: 220V / 2000r/min
F: 220V / 1500r/min
G: 220V / 1000r/min
A: Absolute encoder
(Single-turn: 17-bit; Multi-turn: 16-bit)
With
%UDNH
W/O
%UDNH
With
%UDNH
W/O
W/O
With
With
Oil Seal Oil Seal Oil Seal Oil Seal
5RXQG6KDIW
(with screw hole)
-
-
C
D
Keyway
E
F
-
-
Keyway
(with screw hole)
P
Q
R
S
Rated Output Power
Sensor Type
1: Incremental encoder, 20-bit
W/O
%UDNH
Motor Frame Size
04: 40mm 10:100mm
06: 60mm 13:130 mm
08: 80mm
09: 86mm
19
0F: 50W
01: 100 W
02: 200 W
03: 300 W
04: 400 W
05: 500W
06: 600W
07: 750W
08: 850W
09: 900W
10: 1.0kW
13: 1.3kW
15: 1.5kW
18: 1.8kW
6HUYR'ULYH6SHFL¿FDWLRQV
220V Series
ASDA-M Series
750 W
1.5 kW
07
15
Power
Supply
Phase / Voltage
Speed Control Mode
Position Control
Mode
Permissible Voltage Range
Input Current (3PH) 8QLWV$UPV
Input Current (1PH) 8QLWV$UPV
Continuous output current
Cooling System
Encoder Resolution / Feedback
Resolution
Control of Main Circuit
Tuning Modes
Regenerative Resistor
Max. Input Pulse Frequency
Pulse Type
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Torque
Control Mode
Three-Phase or Single-Phase 200~230 VAC, -15% ~ 10%
9.3
18.6
17.8
33.3
5.1
8.3
Fan Cooling
20-bit (1280000 p/rev)
SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual
None
Max. 500 Kpps / 4 Mpps (Line driver) Max. 200 Kpps (Open collector)
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
External pulse train (Pt mode) / Internal procedures (Pr mode)
/RZSDVVDQG3FXUYH¿OWHU
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)
Set by parameters
Feed Forward Compensation
Voltage Range
Analog Input
Input Resistance
Command
Time Constant
Speed Control Range *1
Command Source
Smoothing Strategy
Torque Limit Operation
Frequency Response
Characteristic
Speed Accuracy *2
(at rated rotation speed)
Voltage Range
Input Resistance
Time Constant
Command Source
Smoothing Strategy
Speed Limit Operation
Analog Monitor Output
Digital
Inputs/Outputs
Three-Phase or Single-Phase 220 VAC
Set by parameters
0 ~ ›10 VDC
10 Kȍ
2.2 ȝV
1 : 5000
External analog signal / Internal parameters
/RZSDVVDQG6FXUYH¿OWHU
Set by parameters or via analog input
Maximum 1 kHz
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0.01% or less at ›SRZHUÀXFWXDWLRQ
RUOHVVDWž&WRž&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
0 ~ ›10 VDC
10 Kʈ
2.2 ȝV
Analog Input
Command
Inputs
External analog signal / Internal parameters
/RZSDVV¿OWHU
Set by parameters or via analog input
Monitor signal can be set by parameters (Output voltage range: ›8 V)
Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Command input reverse control, Command triggered, Speed/
Torque limit enabled, Position command selection, Motor stop, Speed Position Selection, Position / Speed mode switching, Speed /
Torque mode switching, Torque / Position mode switching, Pt / Pr command switching, Emergency stop, Forward / Reverse inhibit limit,
Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home", Electronic cam, Forward / Reverse JOG input,
Event trigger Pr command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
Encoder signal output (A, B, Z Line Driver and Z Open Collector )
Outputs
Protective Functions
Environment
Communication Interface
Installation Site
Altitude
Atmospheric pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
&HUWL¿FDWLRQV
Servo ready, Servo On, At Zero speed, At Speed reached, At Positioning completed, At Torques limit, Servo alarm (Servo fault)
activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command
RYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQGFRPSOHWHG&DSWXUHRSHUDWLRQFRPSOHWHGRXWSXW0RWLRQFRQWURO
completed output, Master position of E-CAM (electronic CAM)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse control
command, Excessive deviation, Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward limit switch error,
Position excessive deviation of full-close control loop, Serial communication error, Input power phase loss, Serial communication time
out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
RS-232 / RS-485 / CANopen / USB
,QGRRUORFDWLRQIUHHIURPGLUHFWVXQOLJKWQRFRUURVLYHOLTXLGDQGJDVIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Altitude 1000m or lower above sea level
86 kPa ~ 106 kPa
0 ºC ~ 55 ºC(If operating temperature is above 45oC, forced cooling will be required)
-20 ºC ~ 65 ºC
0 ~ 90% RH (non-condensing)
20 Hz or below 9.80665 m/s2Ƌ1GƌƏ20 ~ 50Hz 5.88 m/s2Ƌ0.6 Gƌ
IP20
TN System*3
IEC/EN 61800-5-1ƏUL 508C
Footnote:
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*2. :KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
*3. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that point by a protective earth conductor.
20
Servo Drive Dimensions
ASD-M-0721 (750W)
185 (7.28)
267.32 (7.93)
5. 5 (0.217)
190 (7.48)
15 5 (6.1 )
140 (5.51)
6FUHZ0[
6FUHZ7RUTXHNJIFP
Weight
1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs).
2) Dimensions and weights of the servo drive may be revised without prior notice.
21
ASD-M-1521 (1.5kW)
20 5 (8.07)
21 9 (8.62)
5. 5 (0. 217)
209 (8. 25 )
15 5 (6.1 )
140 (5.51 )
5. 5 (0.217 )
6FUHZ0[
6FUHZ7RUTXHNJIFP
Weight
1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs).
2) Dimensions and weights of the servo drive may be revised without prior notice.
22
:LULQJ
Position (PT) Control Mode (for Pulse Command Input)
Pulse input (Open-collector NPN),
for the use of internal power supply
Controller
Servo Drive
DC24V
VDD 17
点
Pull-hi_S 35
$SSUR[ 1Kȟ
点
Pull-hi_P
51ȟ
Max. Input pulse
frequency is
200Kpps
AC200/230V
Single-phase/
Three-phase
50/60Hz
MCCB
R
S
T
$SSUR[ 1Kȟ
51ȟ
L1c
L2c
Max. Input pulse
frequency is
200Kpps
3 groups
51ȟ
45
Pulse Input
( Line Driver)
Pulse input (Open-collector PNP),
for the use of internal power supply
Controller
Servo Drive
DC24V
VDD 17
点
$SSUR[ 1Kȟ
Pull-hi_S 35
Max. Input pulse
frequency is 200Kpps
51ȟ
± 10V
51ȟ
/SIGN 37
点
$SSUR[ 1Kȟ
Pull-hi_P 39
Max. Input pulse
frequency is 200Kpps
51ȟ
10Kȍ
High-speed
Pulse Input
( Line Receiver)
51ȟ
/PULSE 41
45
Pulse input (Open-collector NPN),
for the use of external power supply
Controller
Twisted-pair or
twisted-shield
cable
10K ȍ
10Kȍ
Servo Drive
点
Pull-hi_S
SG
35
+
$SSUR[ 1Kȟ
- DC24V
点
39
/SIGN
37
51ȟ
$SSUR[ 1Kȟ
51ȟ
COM-
Max. Input pulse
frequency is
200Kpps
51ȟ
Pull-hi_P
/PULSE
U
V
W
CN1
SG
COM-
41
SON
CCLR
Max. Input pulse
frequency is
200Kpps
51ȟ
TCM0
TCM1
ARST
EMGS
45
SG
3XOVHLQSXW2SHQFROOHFWRU313
for the use of external power supply
&RQWUROOHU
/SIGN
/SIGN
SIGN
SIGN
37
/PULSE
41
PULSE
43
T-REF
18
GND
13
/HSIGN
40
HSIGN
46
/HPULSE
29
HPULSE
38
MON1
16
10K ȍ
10Kȍ
点
$SSUR[ .ȟ
6,*1
点
$SSUR[ .ȟ
1.5Kȍ
ȟ
ZSPD
1.5Kȍ
ȟ
38/6( 6*
24V
SRDY
0D[,QSXWSXOVH
IUHTXHQF\LV
.SSV
3XOOKLB3 &20
HOME
Controller
GND
12,13,19
MON2
15
DC 24V
36
51ȟ
/SIGN 37
51ȟ
PULSE 43
51ȟ
/PULSE 41
51ȟ
1.5Kȍ
Blue
T-
Blue/Black
7
-
Green
9
-
Green/Black
6
RS485-
5
RS485+
4
RS232_RX
11
COM-
45,47,49
DI1
9
.ȍ
CN4
DI2
10
.ȍ
1
34
.ȍ
2
Data-
DI4
8
.ȍ
3
Data+
DI5
33
.ȍ
4
GND
DI 6
32
Brake
Twisted-pair or
twisted-shield
cable
SG
-
17
.ȍ
2
RS232_TX
1
GND
+5V DC
3 groups
CN5
8
+ 5V
4
Opt A
DO1+
7
5
Opt/A
DO1-
6
3
Opt B
DO2+
5
2
Opt/B
DO2-
4
9
Opt Z
DO3+
3
1
Opt/Z
DO3-
2
6
GND
7
GND
CN6
Max. Input pulse
frequency is
200Kpps
A Phase Pulse
B Phase Pulse
Encoder
Pulse Output
SG
Pulse input (Line driver).
It requires 5 V power supply only.
Never apply a 24 V power supply.
High-speed pulse input
(Line driver)
Controller
Servo Drive
2Kȟ
HSIGN 46
100ȟ
/HSIGN 40
Z Phase Pulse
Z Phase Open
Collector
OA
21
/OA
22
OB
25
/OB
23
OZ
50
/OZ
24
OCZ
48
GND
13
Max. Output
Current 50mA
Voltage 30V
2Kȟ
100ȟ
2Kȟ
13
GND
High-speed pulse input (Line driver).
It requires 5 V power supply only.
Never apply a 24 V power supply.
* The wiring method of Pull-hi_S and Pull-hi_P is different from the
ASDA-A2 Series. The purpose of this design is for connecting a
PNP Transistor in a circuit.
23
CANopen / DMCNET *²
1, 9
CAN H / FRA1
2, 10
CAN H / FRA1
3, 11
- / FRA2
4, 12
-
5, 13
-
6, 14
-
7, 15
- / FRB2
8, 16
2Kȟ
HPULSE 38
SG
T+
4
VDD
DI3
EMGS BRKR *1
Encoder
COM+
Max. Input pulse
frequency is
200Kpps
GND
24V
5
3
Servo Drive
/HPULSE 29
Black
Green
CN3
Pulse input (Line driver)
SIGN
White
ȟ
ȟ
Power
Supply
Red
14,16 + 5V Red
13,15 GND Black
0D[,QSXWSXOVH
IUHTXHQF\LV
.SSV
'&9
3XOOKLB6 3 groups
CN2
36
6HUYR'ULYH
Regenerative
Resistor
51ȟ
/PULSE 41
SG
Pʂ
D
C
39
/SIGN 37
COM-
ASDA-M Series
Servo Drive
MC
Please note:
* 1: The brake oil has no polarity.
* 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication.
The CN6 port of ASD-M-xxxx-F models are
for DMCNET communication.
Position (PR) Control Mode (for Internal Procedure Control)
MCCB
ASDA-M Series
Servo Drive
MC
R
S
T
AC200/230V
Three-phase
50/60Hz
Pʂ
Regenerative
Resistor
D
C
L1c
L2c
U
V
W
Power
Supply
Red
White
Black
EMGS BRKR
*1
24V
Green
±10V
10Kȍ
Twisted-pair or 10Kȍ
twisted-shield
10Kȍ
cable
SG
SON
CTRG
POS0
POS1
ARST
EMGS
5
T+
Blue
4
T-
Blue/Black
7
-
Green
9
-
Green/Black
T-REF
18
GND
13
24V
ZSPD
HOME
1.5Kȍ
MON1
16
GND
12,13,19
MON2
15
VDD
17
COM+
11
COM-
45,47,49
DI1
9
.ȍ
DI2
10
.ȍ
CN4
DI3
34
.ȍ
1
+5V DC
DI4
8
.ȍ
2
Data-
DI5
33
.ȍ
3
Data+
DI6
32
.ȍ
4
GND
1.5Kȍ
1.5Kȍ
DO1+
7
DO1-
6
DO2+
5
DO2-
4
DO3+
3
DO3-
2
CN3
DC 24V
6
RS485-
5
RS485+
4
RS232_RX
3
-
2
RS232_TX
1
GND
8
3 groups
B Phase Pulse
Encoder
Pulse Output
Z Phase Pulse
Z Phase Open
Collector
+5V
4
Opt A
5
Opt /A
3
Opt B
2
Opt /B
9
Opt Z
1
Opt /Z
6
GND
7
GND
CN6
A Phase Pulse
SG
10Kȍ
CN5
SRDY
Twisted-pair or
twisted-shield
cable
14,16 + 5V Red
13,15 GND Black
10Kȍ
CN1
Brake
Encoder
CN2
3 groups
3 groups
CANopen / DMCNET *²
OA
21
1, 9
CANH / FRA1
/OA
22
2, 10
CANL / FRAB1
OB
25
3, 11
- / FRA2
/OB
23
4, 12
-
OZ
50
5, 13
-
/OZ
24
6, 14
7, 15
- / FRB2
OCZ
48
8, 16
-
GND
13
Please note:
* 1: The brake oil has no polarity.
* 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication.
The CN6 port of ASD-M-xxxx-F models are
for DMCNET communication.
Max. Output
Current 50mA
Voltage 30V
24
:LULQJ
Speed (S, Sz) Control Mode
(for Analog Voltage Input and Internal Parameter Setting)
MCCB
ASDA-M Series
Servo Drive
MC
R
S
T
AC200/230V
Three-phase
50/60Hz
Pʂ
L1c
L2c
U
V
W
3 groups
10K ȍ
CN1
±10V
10K ȍ
± 10V
Twisted-pair or
twisted-shield
cable
10Kȍ
10Kȍ
10Kȍ
SG
V-REF
42
GND
44
T-REF
18
GND
13
MON1
16
GND
12,13,19
MON2
15
VDD
17
COM+
11
COM-
45,47,49
Regenerative
Resistor
D
C
10Kȍ
Power
Supply
Red
White
Black
T+
Blue
4
T-
Blue/Black
7
-
Green
9
-
Green/Black
DC 24V
6
RS485-
5
RS485+
4
RS232_RX
3
-
2
RS232_TX
1
GND
.ȍ
DI2
10
.ȍ
CN4
SPD0
SPD1
ARST
EMGS
DI3
34
.ȍ
1
DI4
8
.ȍ
2
Data-
DI5
33
.ȍ
3
Data+
DI16
32
4
GND
.ȍ
+5V DC
3 groups
CN5
ZSPD
TSPD
1.5Kȍ
1.5Kȍ
DO1+
7
DO1-
6
DO2+
5
DO2-
4
DO3+
3
DO3-
2
8
B Phase Pulse
Encoder
Pulse Output
Z Phase Pulse
Z Phase Open
Collector
+ 5V
4
Opt A
5
Opt/A
3
Opt B
2
Opt/B
9
Opt Z
1
Opt/Z
6
GND
7
GND
CN6
A Phase Pulse
CANopen / DMCNET *²
OA
21
1, 9
CAN H / FRA1
/OA
22
2, 10
CAN H / FRA1
OB
25
3, 11
- / FRA2
/OB
23
4, 12
-
OZ
50
5, 13
-
/OZ
24
6, 14
-
7, 15
- / FRB2
OCZ
48
GND
13
SG
CN3
9
1.5Kȍ
Twisted-pair or
twisted-shield
cable
10Kȍ
DI1
SRDY
Brake
Encoder
CN2
5
SON
TRQLM
24V
EMGS BRKR *1
24V
Green
14,16 + 5V Red
13,15 GND Black
10Kȍ
3 groups
8, 16
-
Please note:
* 1: The brake oil has no polarity.
* 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication.
The CN6 port of ASD-M-xxxx-F models are
for DMCNET communication.
Max. Output
Current 50mA
Voltage 30V
25
Torque (T, Tz) Control Mode
(for Analog Voltage Input and Internal Parameter Setting)
MCCB
ASDA-M Series
Servo Drive
MC
R
S
T
AC200/230V
Three-phase
50/60Hz
Pʂ
D
C
L1c
L2c
U
V
W
3 groups
10Kȍ
CN1
± 10V
10Kȍ
± 10V
10Kȍ
Twisted-pair or 10Kȍ
twisted-shield
cable
10Kȍ
SG
SON
SPDLM
TCM0
TCM1
ARST
EMGS
Regenerative
Resistor
Power
Supply
Red
White
Black
T+
Blue
4
T-
Blue/Black
7
-
Green
9
-
Green/Black
14,16 + 5 V Red
13,15 GND Black
GND
44
T-REF
18
GND
13
MON1
16
6
RS485-
GND
12,13,19
5
RS485+
MON2
15
4
RS232_RX
VDD
17
3
COM+
11
2
RS232_TX
COM-
45,47,49
1
GND
DI1
9
4.7Kȍ
DI2
10
4.7Kȍ
CN4
34
4.7Kȍ
1
4.7Kȍ
2
Data-
4.7Kȍ
3
Data+
4.7Kȍ
4
GND
DI4
8
DI5
33
DI6
32
10Kȍ
10K ȍ
DC 24V
8
SRDY
1.5Kȍ
ZSPD
1.5Kȍ
TSPD
1.5Kȍ
+5V DC
3 groups
B Phase Pulse
Encoder
Pulse Output
Z Phase Pulse
Z Phase Open
Collector
+5V
7
4
Opt A
DO1-
6
5
Opt /A
DO2+
5
3
Opt B
DO2-
4
2
Opt /B
DO3+
3
9
Opt Z
DO3-
2
1
Opt /Z
6
GND
7
GND
OA
21
/OA
22
OB
25
/OB
23
OZ
50
/OZ
24
OCZ
48
GND
13
SG
-
DO1+
CN6
A Phase Pulse
Twisted-pair or
twisted-shield
cable
CN3
CN5
24V
Brake
Encoder
CN2
5
42
DI3
EMGS BRKR *1
24V
Green
V-REF
10K ȍ
3 groups
CANopen / DMCNET *²
1, 9
CANH / FRA1
2, 10
CANL / FRAB1
3, 11
- / FRA2
4, 12
-
5, 13
-
6, 14
7, 15
- / FRB2
8, 16
-
Please note:
* 1: The brake oil has no polarity.
* 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication.
The CN6 port of ASD-M-xxxx-F models are
for DMCNET communication.
Max. Output
Current 50mA
Voltage 30V
26
:LULQJ
CANopen / DMCNET Communication Mode
( for ASDA-M-M Series and ASDA-M-F Series )
MCCB
ASDA-M Series
Servo Drive
MC
R
S
T
AC200/230V
Three-phase
50/60Hz
Pʂ
Regenerative
Resistor
D
C
L1c
L2c
U
V
W
3 groups
Power
Supply
Red
White
Black
EMGS BRKR *1
24V
CN1
VDD
Reserved
Reserved
ORGP
NL
PL
EMGS
SRDY
24V
ZSPD
HOME
1.5Kȍ
1.5Kȍ
A Phase Pulse
B Phase Pulse
Encoder
Pulse Output
COM+
11
COM-
45,47,49
Di1
19
.ȍ
DI2
10
.ȍ
DI3
34
.ȍ
DI4
8
Encoder
33
DI6
32
Z Phase Pulse
Z Phase Open
Collector
DO1-
6
5
DO2-
4
DO3+
3
DO3-
2
T+
Blue
4
T-
Blue/Black
7
-
Green
9
-
Green/Black
SG
CN4
1
.ȍ
.ȍ
+5VDC
2
Data-
3
Data+
4
GND
3 groups
CN5
8
+ 5V
4
Opt A
5
Opt/A
3
Opt B
2
Opt/B
9
Opt Z
1
Opt/Z
6
GND
7
GND
OA
21
CN6
/OA
22
1
CAN H / FRA1
OB
25
2
CAN H / FRA1
/OB
23
3
- / FRA2
OZ
50
4
-
/OZ
24
5
-
6
-
CANopen / DMCNET *²
OCZ
48
7
- / FRB2
GND
13
8
-
Max. Output
Current 50mA
Voltage 30V
9
CAN H / FRA1
10
CAN H / FRA1
CN3
11
- / FRA2
RS485-
6
12
-
RS485+
5
13
-
RS232_RX
4
14
-
3
15
- / FRB2
RS232_TX
2
16
GND
1
-
Twisted-pair or
twisted-shield
cable
14,16 + 5V Red
13,15 GND Black
7
DO2+
5
.ȍ
DI5
DO1+
1.5Kȍ
17
Brake
Green
CN2
DC 24V
3 groups
Data Input
Data Input
-
Please note:
* 1: The brake oil has no polarity.
* 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication.
The CN6 port of ASD-M-xxxx-F models are
for DMCNET communication.
27
Servo Motor Features
ECMA Series servo motors are permanent AC servo motors. There are six kinds of frame sizes
DYDLODEOHPPPPPPPPPPDQGPP7KHPRWRUVSHHGLVXSWRU
PLQDQGWKHWRUTXHRXWSXWFDQUHDFK1P
,Q WHUPV RI RSWLRQDO FRQILJXUDWLRQV WKH (&0$ 6HULHV SURYLGHV D EUDNH DQG RLO VHDOV WR IXOO\
VXSSRUWRXUFXVWRPHUV
QHHGV,WDOVRRIIHUVWZRGLIIHUHQWVKDIWVHOHFWLRQVURXQGVKDIWDQGNH\ZD\
for various applications.
28
6HUYR0RWRU6SHFL¿FDWLRQV
Low Inertia Series
C104
ECMA Series
04
C
C
06
C
08
C
09
C
10
0F
01
02
04 ː S
04
07
07
10
10
5DWHGRXWSXWSRZHUN:
0.1
0.2
1.0
1.0
5DWHGWRUTXH1P*1
0.32
1.27
1.27
2.39
2.39
Maximum torque (N-m)
1.92
3000
5DWHGVSHHGUPLQ
Maximum speed (r/min)
3000
3000
3000
5DWHGFXUUHQW$
0.90
7.3
Maximum current (A)
2.70
11
12.37
21.9
3RZHUUDWLQJN:V
12.27
27.7
5RWRUPRPHQWRILQHUWLD
[NJP2)
0.037
0.177
0.277
1.13
1.93
Mechanical time constant (ms)
1.72
1.20
Torque constant-KT (N-m/A)
0.23
9ROWDJHFRQVWDQW.(P9UPLQ
17.2
Armature resistance (Ohm)
12.7
9.30
2.79
0.93
0.20
$UPDWXUHLQGXFWDQFHP+
12.07
7.39
Electrical time constant (ms)
9.3
3.0
2.9
,QVXODWLRQFODVV
&ODVV$8/&ODVV%&(
,QVXODWLRQUHVLVWDQFH
0ȍƏ'&9
1.8k VAC,1 sec
,QVXODWLRQVWUHQJWK
Weight (kg) (without brake)
1.2
2.1
Weight (kg) (with brake)
--
2.0
2.9
Max. radial shaft load (N)
Max. thrust shaft load (N)
39.2
39.2
3RZHUUDWLQJN:VZLWKEUDNH
--
21.3
22.1
29.3
37.9
5RWRUPRPHQWRILQHUWLD
(Kg.m2) (with brake)
--
0.19
0.30
0.73
3.33
Mechanical time constant
(ms) (with brake)
--
1.22
0.93
%UDNHKROGLQJWRUTXH>1WPPLQ@
--
0.3
1.3
1.3
%UDNHSRZHUFRQVXPSWLRQ
(at 20o&>:@
--
7.3
%UDNHUHOHDVHWLPH>PV0D[@
--
10
10
10
10
10
10
10
%UDNHSXOOLQWLPH>PV0D[@
--
70
70
70
70
70
70
70
9LEUDWLRQJUDGHȝP
Operating temperature ( oC)
0 C to 40 C
O
o
O
Storage temperature ( C)
-10 C to 80 C
Operating humidity
WR5+QRQFRQGHQVLQJ
Storage humidity
WR5+QRQFRQGHQVLQJ
9LEUDWLRQFDSDFLW\
*
,35DWLQJ
,3ZKHQZDWHUSURRIFRQQHFWRUVDUHXVHGRUZKHQDQRLOVHDOLV¿WWHGWRWKHURWDWLQJVKDIWDQRLOVHDOPRGHOLVXVHG
&HUWL¿FDWLRQV
O
O
,(&(1Ə8/&
Footnote:
5DWHWRUTXHYDOXHVDUHFRQWLQXRXVSHUPLVVLEOHYDOXHVDWaƒ&DPELHQWWHPSHUDWXUHZKHQDWWDFKLQJZLWKWKHVL]HVRIKHDWVLQNVOLVWHGEHORZ
(&0$BBƝPP[PP[PP
ECMA-_ _ 10Ɲ300mm x 300mm x 12mm
ECMA-_ _ 13ƝPP[PP[PP
0DWHULDOW\SH$OXPLQXP)))))
*2. The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it for decelerating or stopping the machine.
29
Medium / Medium-High / High Inertia Series - 220V Series
13
E
ECMA Series
05
10
G
15
03
13
06
F
09
13
08
C
06
04 ː H
C
08
07 ː H
5DWHGRXWSXWSRZHUN:
0.5
1.0
1.5
0.3
0.6
0.9
0.85
0.4
0.75
5DWHGWRUTXH1P*1
2.39
4.77
7.16
2.86
5.73
8.59
5.41
1.27
2.39
Maximum torque (N-m)
7.16
14.3
21.48
8.59
17.19
21.48
2000
5DWHGVSHHGUPLQ
Maximum speed (r/min)
1000
3000
5.6
2000
8.3
2.5
4.8
7.5
13.8
3.82
7.16
1500
3000
3000
3000
5000
5000
7.1
2.6
5.1
5DWHGFXUUHQW$
2.9
Maximum current (A)
8.7
16.8
24.9
7.5
14.4
22.5
19.4
7.8
15.3
3RZHUUDWLQJN:V
7.0
27.1
45.9
10.0
39.0
66.0
21.52
21.7
19.63
5RWRUPRPHQWRILQHUWLD
[NJP2)
8.17
8.41
11.18
8.17
8.41
11.18
13.6
0.743
2.91
Mechanical time constant (ms)
1.91
1.51
1.10
1.84
1.40
1.06
2.43
1.42
1.6
Torque constant-KT (N-m/A)
0.83
0.85
0.87
1.15
1.19
1.15
0.76
0.49
0.47
9ROWDJHFRQVWDQW.(P9UPLQ
30.9
31.9
31.8
42.5
43.8
41.6
29.2
17.4
17.2
Armature resistance (Ohm)
0.57
0.47
0.26
1.06
0.82
0.43
0.38
1.55
0.42
$UPDWXUHLQGXFWDQFHP+
7.39
5.99
4.01
14.29
11.12
6.97
4.77
6.71
3.53
Electrical time constant (ms)
12.96
12.88
15.31
13.55
13.50
16.06
12.55
4.3
8.36
,QVXODWLRQFODVV
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1.8k VAC,1 sec
Weight (kg) (without brake)
6.8
7.0
7.5
6.8
7.0
7.5
8.6
1.8
3.4
Weight (kg) (with brake)
8.2
8.4
8.9
8.2
8.4
8.9
10.0
2.2
3.9
Max. radial shaft load (N)
490
490
490
490
490
490
490
196
245
Max. thrust shaft load (N)
98
98
98
98
98
98
98
68
98
3RZHUUDWLQJN:VZLWKEUDNH
6.4
24.9
43.1
9.2
35.9
62.1
19.78
21.48
19.3
5RWRUPRPHQWRILQHUWLD
(Kg.m2) (with brake)
8.94
9.14
11.90
8.94
9.14
11.9
14.8
0.751
2.96
Mechanical time constant
(ms) (with brake)
2.07
1.64
1.19
2.0
1.51
1.13
2.65
1.43
1.62
%UDNHKROGLQJWRUTXH>1WPPLQ@
10.0
10.0
10.0
10.0
10.0
10.0
10.0
1.3
1.3
%UDNHSRZHUFRQVXPSWLRQ
(at 20o&>:@
19.0
19.0
19.0
19.0
19.0
19.0
19.0
6.5
6.5
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10
10
10
10
10
10
10
10
10
%UDNHSXOOLQWLPH>PV0D[@
70
70
70
70
70
70
70
70
70
9LEUDWLRQJUDGHȝP
15
Operating temperature ( oC)
0 C to 40 C (32 OF to 104 OF)
o
O
O
Storage temperature ( C)
-10 C to 80 C (-14 OF to 176 OF)
Operating humidity
WR5+QRQFRQGHQVLQJ
Storage humidity
WR5+QRQFRQGHQVLQJ
O
O
9LEUDWLRQFDSDFLW\
*
,35DWLQJ
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IEC / EN 61800-5-1ƏUL 508C
Footnote:
5DWHGWRUTXHYDOXHVDUHFRQWLQXRXVSHUPLVVLEOHYDOXHVDWaƒ&DPELHQWWHPSHUDWXUHZKHQDWWDFKLQJZLWKWKHVL]HVRIKHDWVLQNVOLVWHGEHORZ
(&0$BBƝPP[PP[PP
ECMA-_ _ 10Ɲ300mm x 300mm x 12mm
ECMA-_ _ 13ƝPP[PP[PP
0DWHULDOW\SH$OXPLQXP)))))
*2. The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it for decelerating or stopping the machine.
7RUHDFKWKHPRWRU
VPD[WRUTXHOLPLWRIXVHWKHVHUYRGULYHZLWKKLJKHUZDWWV
30
Servo Motor Dimensions
Frame Size 86mm and below
Model
C1040F
S
C
0401
S
C
0602
S
C
0604
S
C
0604
LC
40
40
60
60
60
LZ
4.5
4.5
5.5
5.5
5.5
LA
46
46
70
70
70
S
8(
+0
- 0.009
)
+0
8(
+0
- 0.009
)
14 (
+0
+0
- 0.011
)
14 (
+0
+0
- 0.011
+0
)
14 ( - 0.011 )
+0
+0
LB
30 ( - 0.021 )
30 ( - 0.021 )
50 ( )
50 ( )
50 ( )
LL濑W/O Brake濒
79.1
100.6
105.5
130.7
145.8
LL濑With Brake濒
--
136.8
141.6
166.8
176.37
LS
20
20
27
27
27
LR
25
25
30
30
30
LE
2.5
2.5
3
3
3
LG
5
5
7.5
7.5
7.5
LW
16
16
20
20
20
RH
6.2
6.2
11
11
11
WK
3
3
5
5
5
W
3
3
5
5
5
T
3
3
5
5
5
-
M3
Depth 8
M4
Depth 15
M4
Depth 15
M4
Depth 15
TP
1) Dimensions are in millimeters.
2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes ( ƑLQWKHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQVNH\ZD\EUDNHDQGRLOVHDO
4) The triangles (
) in the model names are for encoder resolution types (
=1: Incremental encoder, 20-bit;
=2: Absolute encoder, 17-bit).
7RUTXH&XUYHV71&XUYHV
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
Continuous
Duty Zone
ECMA-C1040F ː S
,QWHUPLWWHQW
Duty Zone
,QWHUPLWWHQW
Duty Zone
,QWHUPLWWHQW
Duty Zone
Speed (r/min)
Torque (N-m)
Torque (N-m)
Torque (N-m)
Continuous
Duty Zone
Continuous
Duty Zone
Continuous
Duty Zone
Speed (r/min)
Speed (r/min)
Speed (r/min)
ECMA-C ˋ 0602 ː S
ECMA-C ˋ 0401 ː S
31
ECMA-C ˋ 0804 ː S
ECMA-C ˋ 0804 ː H
ECMA-C ˋ 0804 ː 7
Units: mm
H
C
0804
7
C
0807
S
C
0807
H
C
0907
S
C
0910
80
80
80
86
86
6.6
6.6
6.6
6.6
6.6
90
90
90
100
100
+0
- 0.011
)
)
14 (
)
)
70 ( - 0.030 )
70 ( - 0.030 )
+0
112.3
19 (
+0
- 0.013
)
16 (
+0
- 0.011
S
+0
)
16 ( - 0.011 )
70 ( - 0.030 )
80 ( - 0.030 )
80 ( - 0.030 )
138.3
151.1
130.2
153.2
152.8
178
189
161.3
184.3
27
32
32
30
30
30
35
35
35
35
3
3
3
3
3
8
8
8
8
8
20
25
25
20
20
11
15.5
15.5
13
13
5
6
6
5
5
5
6
6
5
5
+0
19 (
+0
- 0.013
+0
+0
+0
5
6
6
5
5
M4
Depth 15
M6
Depth 20
M6
Depth 20
M5
Depth 15
M5
Depth 15
Torque (N-m)
Torque (N-m)
Torque (N-m)
8.78
(276%)
7.14
(298%)
,QWHUPLWWHQW
Duty Zone
6.00
(251%)
5.85
(184%)
Intermittent Duty Zone
2.38
(100%)
Continuous
Duty Zone
3.18
(100%)
Intermittent Duty Zone
Continuous Duty Zone
Continuous Duty Zone
Speed (r/min)
Speed (r/min)
Speed (r/min)
2,000
ECMA-C ˋ 0807 ː S
ECMA-C ˋ 0807 ː H
ECMA-C10907 ː S
ECMA-C10910 ː S
32
3,000
6HUYR0RWRU'LPHQVLRQV
Frame Size 100m ~ 130m
T
W -0.036
LG
0
LR
LE
LS
LW
0
-0.036
Sh6
LBh7
LC
KEY DETAILS
TP
RH
LL
4-Z
PCD-A
SHAFT END DETAILS
Units: mm
Model
C
1010
S
LC
LZ
LA
100
9
115
S
22 ( - 0.013 )
95 (
1305
S
130
9
145
+0
LB
E
+0
)
+0
110 (
1310
S
E
1315
130
9
145
22 ( - 0.013 )
+0
E
)
+0
110 (
S
F
1308
130
9
145
)
110 (
S
G
110 (
S G
+0
)
22 ( - 0.013 )
110 (
+0
1306
S G
130
9
145
+0
22 ( - 0.013 )
)
1303
130
9
145
+0
22 ( - 0.013 )
+0
130
9
145
+0
22 ( - 0.013 )
+0
)
+0
110 (
+0
22 ( - 0.013 )
)
110 (
+0
LL濑W/O Brake濒
153.3
147.5
147.5
167.5
152.5
147.5
147.5
163.5
LL濑With Brake濒
192.5
183.5
183.5
202
181
183.5
183.5
198
LS
37
47
47
47
47
47
47
47
LR
LE
LG
LW
RH
WK
W
T
45
5
12
32
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
55
6
11.5
36
18
8
8
7
M6
Depth 20
TP
S
130
9
145
22 ( - 0.013 )
+0
1309
)
1) Dimensions are in millimeters.
2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes ( Ƒ LQWKHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQVNH\ZD\EUDNHDQGRLOVHDO
4) The triangles (
) in the model names are for encoder resolution types (
=1: Incremental encoder, 20-bit;
=2: Absolute encoder, 17-bit).
7RUTXH&XUYHV71&XUYHV
Torque (N-m)
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
,QWHUPLWWHQW
Duty Zone
Continuous
Duty Zone
Continuous
Duty Zone
Speed (r/min)
Torque (N-m)
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
,QWHUPLWWHQW
Duty Zone
Speed (r/min)
Continuous
Duty Zone
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
Continuous
Duty Zone
Speed (r/min)
Speed (r/min)
Continuous
Duty Zone
Speed (r/min)
2,300
ECMA-C ˋ 1010 ː S
ECMA-E ˋ 1305 ː S
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
Continuous
Duty Zone
,QWHUPLWWHQW
Duty Zone
Continuous
Duty Zone
Speed (r/min)
Continuous
Duty Zone
Speed (r/min)
ECMA-G ˋ 1306 ː S
ECMA-E ˋ 1315 ː S
Torque (N-m)
Torque (N-m)
,QWHUPLWWHQW
Duty Zone
ECMA-G ˋ 1303 ː S
ECMA-E ˋ 1310 ː S
Speed (r/min)
ECMA-G ˋ 1309 ː S
33
ECMA-F ˋ 1308 ː S
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Digital I/O Remote Modules
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Power Supply Voltage
Response Time / Work Frequency
Active Level (OFF
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20—s
Active Level (ON
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30—s
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RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1GHz, 10V/m
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Installation & Wiring
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a9a9a9a9
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10%
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20mA
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aȍ
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a
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ELWV
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ą LED
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Ŷ /(''LVSOD\
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Ŷ 2SHUDWLRQ3DQHO
Function keys used to perform status display, monitor and
diagnostic, function and parameter setting.
Ŷ )XQFWLRQ.H\V
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6+,)73UHVVWKLVNH\WRVKLIWFXUVRUWRWKHOHIW
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6(73UHVVWKLVNH\WRVWRUHGDWD
ą I/O
LED
Ŷ $OLW/('LQGLFDWHVWKDWHLWKHUSRZHU
is connected to the servo drive or
a residual charge is present in the
GULYH
VLQWHUQDOSRZHUFRPSRQHQWV
Interface
Ŷ 8VHGWRFRQQHFW'HOWD
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other external controllers for controlling I/O
signals.
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encoder for controlling A, B, Z phase
signals for inputs of X, Y, Z axes.
ą Motor
Encoder Interface
Ŷ 8VHGWRFRQQHFWWKHHQFRGHURIWKHVHUYR
motor and feedback the signals to X, Y,
Z axes of the servo drive.
ą Serial
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for RS-485 / RS-232 serial communication.
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Terminal
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DQGVHUYRPRWRU
ą High-speed
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DS402 implementation.
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ą Control
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to connect 200~230Vac, 50/60Hz single-phase or threephase power supply.
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to connect 200~230Vac, 50/60Hz commercial power
supply.
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and .
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regenerative resistor specifications for the models with a
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Terminal
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supply and servo motor.
ą 6HUYR0RWRU2XWSXW89:
Ŷ 8VHGWRFRQQHFWVHUYRPRWRU1HYHUFRQQHFW
the output terminal to main circuit power as
the AC drive may be damaged beyond repair
if incorrect cables are connected to the
output terminals.
ą Ground
Terminal
Ŷ Used to connect grounding wire of
power supply and servo motor.
7KH ¿JXUHV DUH IRU LOOXVWUDWLRQ SXUSRVHV RQO\$FWXDO PRGHOV
may differ slightly in appearance from illustrations provided.
38
2SWLRQDO$FFHVVRULHV
ą 4XLFN&RQQHFWRUV
Ŷ 8VHGIRU0 W to 1.5 kW servo drives
Ŷ 2QHRSHUDWLQJOHYHULVSURYLGHGIRUZLUH
to terminal block insertion.
ą Power
Cables
Ŷ 3 m and 5m standard cables are available.
Ŷ &XVWRPL]HGVHUYLFHLVRIIHUHGWRPHHWWKH
VHUYLFHLVRIIHUHGWRPHHWWKH
needs of customers.
stomers.
Ŷ 7ZRW\SHVDUHVHOHFWDEOHZLWKEUDNHDQG
UHVHOHFWDEOHZLWKEUDNHDQG
without brake.
ke.
ą Encoder
Cables
Ŷ 3 m and 5 m standard cables are available.
e.
Ŷ &XVWRPL]HGVHUYLFHLVRIIHUHGWR
meet the needs of customers.
ą RS-232
Communication Cables
Ŷ &RQQHFWV$6'$0WR3/&+0,DQG
other controllers via RS-232 communication.
nication.
Ŷ 6WDQGDUGFDEOHOHQJWKLV3 m.
Ŷ 'HOWD3DUW1XPEHU$6'&$56
39
ą Terminal
Block Modules
Ŷ (DV\LQVWDOODWLRQDQGZLULQJ5 m
connection cable is provided.
Ŷ (DV\WRUHGXFHWKHVSDFHUHTXLUHG
Ŷ (DV\WRH[SDQGV\VWHP
V,2
configuration.
Ŷ 'HOWD3DUW1XPEHU$6'%0$
ą Regenerative
Resistors
Ŷ )RUVHOHFWLQJDUHJHQHUDWLYH
resistor, please refer to the table of
regenerative resistor specifications
on page 50.
ą 86%&RPPXQLFDWLRQ
Cables (for PC)
Ŷ &RQQHFWV$6'$$WRD3&YLD
ASDA-Soft configuration software)
Ŷ 86%LVHTXLSSHGDVVWDQGDUG
Ŷ 'HOWD3DUW1XPEHU'23&$86%$%
ą CANopen
Accessories
Ŷ 'HOWD
V7$3&1GLVWULEXWLRQER[
FRQQHFWV$6'$$WR'HOWD
V3/&
CAN Master.
Ŷ )RUVHOHFWLQJ&$1RSHQDFFHVVRULHV
please refer to the table of other
accessories on page 49.
ą RS-485
Connectors
Ŷ 8VHGWRFRQQHFWPXOWLSOH
ASDA-M systems by RS -485
interface through Modbus serial
communication.
Ŷ 'HOWD3DUW1XPEHU$6'&1,(%
7KH¿JXUHVDUHIRULOOXVWUDWLRQSXUSRVHVRQO\$FWXDOPRGHOVPD\
differ slightly in appearance from illustrations provided.
40
Optional Cables and Connectors
Power Connectors
ASDBCAPW0000
ASD-CAPW1000
ASDBCAPW0100
3106A-20-18S
Power Cables
ASD-ABPW0003, ASD-ABPW0005
L
Item
Part No.
1
2
L
mm
inch
ASD-ABPW0003
3000 › 100
118 › 4
ASD-ABPW0005
5000 › 100
197 › 4
ASD-ABPW0103, ASD-ABPW0105
L
Item
Part No.
1
2
L
mm
inch
ASD-ABPW0103
3000 › 100
118 › 4
ASD-ABPW0105
5000 › 100
197 › 4
41
Power Cables
ASD-CAPW1003, ASD-CAPW1005
(50mm)
(1.97mm)
(80 mm)
(3.15 mm)
L
Item
Part No.
Straight
1
ASD-CAPW1003
2
ASD-CAPW1005
L
mm
inch
3106A-20-18S
3000 › 100
118 › 4
3106A-20-18S
5000 › 100
197 › 4
ASD-CAPW1103,ASD-CAPW1105
(50mm)
(1.97inch)
(80mm)
L
(3.15inch)
Item
Part No.
Straight
1
ASD-CAPW1103
2
ASD-CAPW1105
L
mm
inch
3106A-20-18S
3000 › 100
118 › 4
3106A-20-18S
5000 › 100
197 › 4
42
Optional Cables and Connectors
Encoder Connectors
ASD-CAEN1000
ASD-ABEN0000
Encoder Cables
ASD-ABEN0003, ASD-ABEN0005
L
Item
Part No.
1
2
L
mm
inch
ASD-ABEN0003
3000 › 100
118 › 4
ASD-ABEN0005
5000 › 100
197 › 4
ASD-CAEN1003, ASD-CAEN1005
L
Item
Part No.
Straight
1
ASD-CAEN1003
2
ASD-CAEN1005
L
mm
inch
3106A-20-29S
3000 › 100
118 › 4
3106A-20-29S
5000 › 100
197 › 4
43
Optional Cables and Connectors
I/O Signal Connector
ASD-CNSC0050
Terminal Block Module
ASD-BM-50A
50.7m
50.7 mm
86.8m
86.8 mm
0.5m
146.4m
146.4 mm
RS-232 Communication Cable
ASD-CARS0003
L
L
Item
Part No.
1
ASD-CARS0003
mm
inch
3000 › 100
118 › 4
Communication Cable between Drive and Computer (for PC)
DOP-CAUSBAB
140030
A
P4
P1
P2
120.5
120.5
CONDUCTOR
B
P1
P3
P4
INSULATOR
ALUMINUM
TINNED COPPER BRAID
PVC JACKET
44
Item
Part No.
1
DOP-CAUSBAB
L
mm
inch
1400 › 30
55 › 1.2
CANopen Communication Cable
TAP-CB03, TAP-CB05
L ² 10
8
8
H1
H2
1
1
Item
Part No.
1
2
L
mm
inch
TAP-CB03
300 › 10
11 › 0.4
TAP-CB05
500 › 10
19 › 0.4
CANopen Distribution Box
TAP-CN03
42.00[1.65]
87.00[3.43]
66.50[2.62]
RS-485 Connector
ASD-CNIE0B06
Accessories images shown here may differ from actual product
appearance. Please refer to the actual product appearance.
45
$FFHVVRULHV&RPELQDWLRQV
750W Servo Drive and 50W Low Inertia Servo Motor
Servo Drive
ASD-M-0721-
Low Inertia Servo Motor
ECMA-C1040F
S
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W Servo Drive and 100W Low Inertia Servo Motor
Servo Drive
ASD-M-0721-
Low Inertia Servo Motor
ECMA-C ː 0401
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W Servo Drive and 200W Low Inertia Servo Motor
Servo Drive
ASD-M-0721-
Low Inertia Servo Motor
ECMA-C ː 0602
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
46
$FFHVVRULHV&RPELQDWLRQV
750W Servo Drive and 400W Low Inertia Servo Motor
Servo Drive
ASD-M-0721S
H
7
ECMA-C ː 0604
ECMA-C ː 0604
ECMA-C ː 0804
Low Inertia Servo Motor
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W Servo Drive and 500W Medium Inertia Servo Motor
Servo Drive
ASD-M-0721ECMA-E ː 1305
Medium Inertia Servo Motor
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Power Connector (With Brake)
ASD-CAEN100X
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W Servo Drive and 300W High Inertia Servo Motor
Servo Drive
ASD-M-0721ECMA-G ː 1303
High Inertia Servo Motor
Power Cable (Without Brake)
ASD-CAPW100X
Power Connector (Without Brake)
ASD-CAPW110X
Power Cable (With Brake)
ASD-CAPW1000
Power Connector (With Brake)
ASD-CAEN100X
Incremental Encoder Cable
ASD-A2EB100X
Absolute Encoder Cable
ASD-CAEN1000
Encoder Connector
ASD-CAEN1000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
47
750W Servo Drive and 750W Low Inertia Servo Motor
Servo Drive
ASD-M-0721ECMA-C ː 0807
ECMA-C ː 0807
ECMA-C ː 0907
Low Inertia Servo Motor
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
S
H
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750kW Servo Drive and 600kW High Inertia Servo Motor
Servo Drive
ASD-M-1521-
Medium Inertia Servo Motor
ECMA-F ː 1308
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW Servo Drive and 850W High Inertia Servo Motor
Servo Drive
ASD-M-1521-
High Inertia Servo Motor
ECMA-C ː 1010
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW Servo Drive and 1kW Low Inertia Servo Motor
Servo Drive
ASD-M-1521-
Low Inertia Servo Motor
ECMA-C ː 0910
Power Cable (Without Brake)
ASD-ABPW000X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASD-ABPW010X
Power Connector (With Brake)
ASDBCAPW0100
Incremental Encoder Cable
ASD-ABEN000X
Absolute Encoder Cable
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
S
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
48
$FFHVVRULHV&RPELQDWLRQV
1.5kW Servo Drive and 1kW Low Inertia Servo Motor
Servo Drive
ASD-M-0721-
Low Inertia Servo Motor
ECMA-G ː 1306
S
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW Servo Drive and 1kW Medium Inertia Servo Motor
ASD-M-1521-
Servo Drive
Medium Inertia Servo Motor
ECMA-E ː 1310
S
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW Servo Drive and 900kW High Inertia Servo Motor
Servo Drive
ASD-M-1521-
High Inertia Servo Motor
ECMA-E ː 1309
S
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
Servo Drive
ASD-M-1521-
Medium Inertia Servo Motor
ECMA-E ː 1315
S
Power Cable (Without Brake)
ASD-CAPW100X
Power Cable (With Brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Encoder Cable
ASD-CAEN100X
Absolute Encoder Cable
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1) The boxes ( ƑDWWKHHQGVRIWKHVHUYRGULYHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQV)RUWKHDFWXDOPRGHOQDPHSOHDVHUHIHUWR
the model explanation of the servo drive.
2) The boxes ( Ƒ) in the model names represent shaft end/brake or the number of oil seal.
) in the model names represent encoder type.
,QFUHPHQWDOHQFRGHUELW
3) The triangles (
49
,QFUHPHQWDOHQFRGHUELW
$FFHVVRULHV&RPELQDWLRQV
Other Accessories濑for ASDA-M Series all models濒
Description
'HOWD3DUW1XPEHU
3LQ,26LJQDO&RQQHFWRU&Q
$6'&16&
7HUPLQDO%ORFN0RGXOH
$6'%0$
56&RPPXQLFDWLRQ&DEOH
$6'&$56
&RPPXQLFDWLRQ&DEOHEHWZHHQ'ULYHDQG&RPSXWHUIRU3&
'23&$86%$%
CANopen Communication Cable
7$3&%7$3&%
&$1RSHQ'LVWULEXWLRQ%R[
7$3&17$3&1
56&RQQHFWRU
$6'&1,(%
Regenerative Resistor 400W 40ʈ
BR400W040
Regenerative Resistor 1kW 20ʈ
BR1K0W020
Regenerative Resistor 1.5kW 5ʈ
BR1K5W005
Safety Information
ASDA-M Series is designed to fully comply with demanding international standards,
VXFKDV,(&DQG(1DQGRWKHUVIRUDOO¿HOGVRILQGXVWULDODXWRPDWLRQWHFKQRORJ\
Global Standards
EN61000-4-6 Level 3
EN61000-4-3 Level 3
EN61000-4-2 Level 2 and 3
EMS Standard
EN61000-4-4 Level 3 澿 in the process of application to EN61000-4-4
EN61000-4-8 Level 4
EN61000-4-5 Level 3
Conducted &
Radiated Emissions
&RPSOLHVZLWK(1&ODVV$*URXSZLWKH[WHUQDO(0&¿OWHU
CE Marking
CE recognized. Complies with Directive 2006/95/EC of the European Parliament and EMC Directive 2004/108/EC.
澿 in the process of application to EMC Directive 2004/108/EC
UL Approval
UL (U.S.), cUL (Canada) recognized.
IEC/EN50178, IEC/EN60529
Test Standard
IP20
Vibration
1G less than 20Hz, 0.6G 20 to 50Hz. Complies with IEC/EN50178
Shock
15gn 11ms. Complies with IEC/EN600028-2-27
Pollution Degree
Degree 2. Complies with IEC/EN61800-5-1
5HJHQHUDWLYH5HVLVWRU6SHFL¿FDWLRQV
Servo Drive
(kW)
6SHFL¿FDWLRQVRI%XLOWLQ5HJHQHUDWLYH5HVLVWRUV
Min. Allowable Resistance
(Ohm)
Resistance
(parameter P1-52) (Ohm)
Capacity
(parameter P1-53) (Watt)
0.75
40ʈ
60W
20ʈ
1.5
20ʈ
100W
10ʈ
Note
Ŷ :KHQWKHIDXOW$/(5HJHQHUDWLRQ(UURURFFXUVSOHDVHLQFUHDVHWKHUHJHQHUDWLYHUHVLVWRUFDSDFLW\RUGHFUHDVHWKHUHJHQHUDWLYH
resistor resistance. (The regenerative resistor resistance should not be less than the minimum allowable resistance listed in the above
table.)
Ŷ ,IWKHVLWXDWLRQLVQRWLPSURYHGDIWHULQFUHDVLQJWKHUHJHQHUDWLYHUHVLVWRUFDSDFLW\RUGHFUHDVLQJWKHUHJHQHUDWLYHUHVLVWRUUHVLVWDQFH
please purchase regenerative resistor module.
Ŷ When combining multiple small-capacity regenerative resistors in parallel to increase the regenerative resistor capacity, make sure that
the total resistance value of the regenerative resistors is not less than the minimum allowable resistance listed in the above table.
50
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
7RN\R2I¿FH
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
5DOHLJK2I¿FH
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
6DR3DXOR2I¿FH
5XD,WDSHYDƒDQGDU(GL¿FLR,WDSHYD2QH%HOD9LVWD
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Delta Electronics (Netherlands) B.V.
(LQGKRYHQ2I¿FH
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL: +31 (0)40-8003800 / FAX: +31 (0)40-8003898
*We reserve the right to change the information in this catalogue without prior notice.
DELTA_IA-ASDA_ASDA-M_C_EN_20160120