Automation for a Changing World
Delta Programmable
Automation Controller (PAC)
w w w. d e l t a w w. c o m
Reliable, Flexible, High Performance
Industrial PC-Based Motion Control Solution
A Perfect PAC Platform to Meet Your Needs
and Challenges
Delta's programmable automation controller (PAC) is a cost effective platform with high reliability,
integrated network communication capability, and high-end motion control functions for advanced
automation solutions. This PAC platform enables better synchronization with EtherCAT and
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Its cable-less and fan-less design increases reliability, which is resistant to harsh environments
and contaminants. It is also a high-performance controller base on a X86 dual-core processor and
offers multiple communication interfaces for fast and convenient data transmission. This controller
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and the EtherCAT and DMCNET communication dynamic-link library (DLL) which dramatically
eases the implementation process and saves development time. In addition, the integrated
versatile software platform offers a perfect integration of logic programming control, human
machine interface, numeric control and robot control, supporting IEC61131-3 programming
languages and high performance motion control for various applications and industries.
When connected to various slave modules and servo systems with either an EtherCAT or
DMCNET network interface, Delta’s PAC enables a more effective industrial PC-based motion
control solution to establish a simpler system featuring simple wiring, quick installation, fast
communication, and superior performance, while requiring less integration effort.
1
Table of Contents
3
Product Features
6
6\VWHP&RQ¿JXUDWLRQ
- PAC as the DMCNET Master
- PAC as the EtherCAT Master
10
Soft Numeric Control (SNC)
14
Soft Robot Control (SRC)
16
Soft Programmable Logic
Controller (SoftPLC)
17
IPC Motion Platform (IMP)
19
)LHOGEXV9HUL¿FDWLRQDQG
Validation
- EzDMC Software
- EcNavi Software
23
6SHFL¿FDWLRQVRI3$&V
- MH1 Series
- MP1 Series
2
27
DMCNET Remote Modules
(DMCNET Slaves)
41
EtherCAT Remote Modules
(EtherCAT Slaves)
Product Features
Rugged, Flexible and Energy Saving Hardware
Delta's PAC adopts a cable-less and fan-less design which
increases reliability and reduces power consumption. It offers
multiple storage interfaces, such as CFast card and SSD slots
for fast and stable data transmission. In addition, the MP1
Series is equipped with a 10.1-inch touchscreen for more
ÀH[LEOHRSHUDWLRQ.
MH1 Series
S i
Multiple Peripheral Interfaces for
Communication
Delta's PAC features built-in USB ports,serial COM
SRUWV*ESV(WKHUQHWSRUWVDQG3&,3&,HH[WHQVLRQVORWV
as standard for fast and convenient data transmission
between adjacent devices and equipment.
Support of EtherCAT and DMCNET Master
and Slave Modules
Delta's PAC enables better synchronization with EtherCAT
MP1 Series
and DMCNET communication. With the DMCNET
structure, up to 12 units of DMCNET modules and 12
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EHFRQWUROOHGE\DVLQJOH3$&SODWIRUP7RLPSOHPHQWPXOWLSOH,2H[WHQVLRQVDQGDFKLHYHPRUHD[HV
RIPRWLRQFRQWUROXVHUVFDQFKRRVHWKH3&,'0&%3&,/3DQGRWKHU'HOWDPRWLRQFRQWURO
cards to meet their application requirements.
Highly Secure Software
Each PAC has a high-security IC device for secured
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the necessary qualities that are essential for the development
of highly secure software.
3
Compatible with Versatile Operating Systems
Both of the MH1 and MP1 Series support Windows XP
Embedded and Windows 7 Embedded operating systems and
allow real-time applications running on OSs such as Windows
CE, and RTX Runtime*. Both also support various software
libraries for user selection.
*Support of real-time operating systems is available on request.
Please consult your distributors or your local sales representatives for availability.
Integrated Motion Control Platform
Delta's PAC provides a PC-based integrated motion control platform, IPC Motion Platform (IMP)
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(supporting IEC61131-3), SoftHMI, Soft Numeric Control (SNC) and Soft Robot Control (SRC), perfectly
suited for customized requirements of many different types of machines: laser engraving, frame cutting,
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PC-based Controller
MH1 Series
Gateway Type
Remote Modules
MP1 Series
PAGE 24
Servo Motors
and Drives
ASDA-A2-F
PAGE 25
ASDA-B2-F
PAGE 33
ASDA-M
PAGE 35
PAGE 37
32 Digital Input Remote Module
ASD-DMC-RM32MN
64 Digital Input Remote Module
ASD-DMC-RM64MN
Digital I/O Remote Module
HMC-RIO3232RT5
32 Digital Output Remote Module
ASD-DMC-RM32NT
64 Digital Output Remote Module
ASD-DMC-RM64NT
32 Digital I/O Remote Module
ASD-DMC-RM32PT
PAGE 27 ~ 31
4-Channel Analog Output
Remote Module
ASD-DMC-RM04DA
4-Channel Analog Input
Remote Module
ASD-DMC-RM04AD
PAGE 30
Pulse Remote
Module
Analog Remote
Modules
Digital Remote Modules
Servo Systems
DMCNET Masters
PAC as the DMCNET Master
4-Channel Pulse Remote Module
ASD-DMC-RM04PI
PAGE 29
Gateway Type Remote
Power Coupler
ASD-DMC-GA01
Gateway Type 1-Channel
Pulse Remote Module
ASD-DMC-GE01PH
PAGE 32
5
6\VWHP&RQ¿JXUDWLRQ
DMCNET Communication Structure
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servo system units within 1ms simultaneously. It can accept double precision floating point values
64-bits wide and provide up to 1,280,000 pulse/rev resolution so the servo system can make accurate
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D[LVKHOLFDODQGOLQHDULQWHUSRODWLRQRUJURXSVD[LVOLQHDUDQGDUFLQWHUSRODWLRQFDQEHLPSOHPHQWHG
synchronously. It also supports absolute commands, incremental commands, T-curve / S-curve velocity
profiles, built-in position, speed and torque control modes for different uses. Simply connecting the
DMCNET to enable fast and cost-effective communication and motion control is easy.
PAC as the DMCNET Master
MH1 Series
ASDA-A2 ASDA-A2
ASDA-A2R
MP1 Series
ASDA-B2
Gateway Type
GA Power Coupler +
GE Remote Modules
Remote Modules
Pulse Output Module
Stepping Motors
Servo
Motor
Servo Motors
/LQHDU
Stages
DI/DO
AI/AO
Stepping
Motor
/LQHDU
Motors
6
6\VWHP&RQ¿JXUDWLRQ
PAC as the EtherCAT Master
EtherCAT Master
PC-based controller
MH1 Series
PAGE 23
Servo Systems
ASDA-A2-E
AC Servo Drive
PAGE 47
Gateway Type
Remote Modules
Pulse Remote Module
1-Channel
Pulse Remote
Module
Gateway Type E-Bus
Remote Power Coupler
R1-EC5500
PAGE 42
R1-EC5621
Digital Remote Modules
16 Digital Input
Remote Module
16 Digital Input
Remote Module
R1-EC6002
R1-EC6022
R1-EC7062
PAGE 43~44
Analog Remote Modules
4-Channel
Analog Output
Remote Module
PAGE 41
4-Channel
Analog Output
Remote
Module
R1-EC8124
R1-EC9144
7
PAGE 45~46
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EtherCAT Communication Structure
EtherCAT Motion Control Products (Ethernet Control Automation Technology) is an open high
performance Ethernet-based fieldbus system that provides high efficiency and good synchronization
quality for automation control. With EtherCAT, Delta's EtherCAT motion control solution can
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VODYH VWDWLRQV WKDW HQDEOH D D[LV PRWLRQ FRQWURO ZLWKLQ PV F\FOH WLPH ,W DOVR VXSSRUWV homing modes, point-to-point position control, speed control and torque control. 2 groups of linear
interpolation, 3 groups of arc, 2D and helical interpolation can be implemented synchronously.
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high-performance machine control systems.
PAC as the EtherCAT Master
ASDA-A2-E
R1-EC Remote Modules
R1-EC Pulse Modules
AI
DO
AO
DI
Stepping Motors
/LQHDU6WDJHV
Servo Motor
Servo Motor
8
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EtherCAT Motion Control Structure
For EtherCAT rapid and high performance communication, Delta provides a rugged and high-speed
motion control solution with complete functions for EtherCAT masters, and that supports device description
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'HOWD
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capability of real-time connection via EtherCAT for high-level integration. Its rapid communication can update
commands between stations within 1ms to ensure accurate and prompt data transfer within the network.
PAC as the EtherCAT Master
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ASDA-A2
ASDA-A2
9
R1-EC Remote Modules
Soft Numeric Control (SNC)
SNC Software Structure
MH1 Series
MP1 Series
G code
Decoder
G code
SNC
Library
DMCNET
ASDA-A2 ASDA-A2
ASDA-A2R
ASDA-B2
Gateway Type
GA Power Coupler +
GE Remote Modules
Remote Modules
Pulse Output Module
Stepping
Motors
Servo
Motor
Servo
Motors
/LQHDU
Stages
AI/AO
DI/DO
/LQHDU
Motors
Stepping
Motor
10
Soft Numeric Control (SNC)
Soft Numeric Control (SNC) Library
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smoothing, automatic corner deceleration, high speed multi-block look-ahead, curve fitting, tool
management and other functions to make BCB, C#, Delphi, VB, VB.Net, and VC easy to develop
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G code Decoder
User Interface
SNC
Screen Editing
G code Decoder
Motion Control
Operating Procedure
G code
Single-Axis JOG
Read File
M code
Multi-Axis
Synchronization
Save File
T code
Status Display
Curve Fitting
Interface Design
Multi-Axis
Synchronization
Coordinate Alignment
2.5D Processing
Motion
Speed Change
Contour Processing
Motion
Jerk Control
C
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path changes from straight line to curve, machine vibration or shock
may occur. The Jerk Control function is used to control speed and
change acceleration to suppress vibration and shock and maintain
stability and precision for long term operation.
Centripetal Acceleration
B
A
Feed Rate Automatic
Adjustment
A
S-Curve Smoothing
B
C
Smooth Operation
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acceleration and deceleration before
interpolation minimizes vibration errors
and offers a stable and high precision
machining process.
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Soft Numeric Control (SNC)
Automatic Corner Deceleration
Ź During machining processes, corner deceleration
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maintain its precision and speed at corners and
effectively smooth the process.
Ź The servo drives can provide real-time and
smooth friction compensation with high
sampling speed control loop for correcting the
torque.
Mechanical Friction
Y
Torque
g
X
b
Speed
f
d
c
Real-time Friction
Compensation
e
a
Feed Rate
a
c
b
d
e
g
f
Without Friction
Compensation
With Friction
Compensation
High Speed Multi-Block Look-Ahead
Curve Fitting
Ź High speed multi-block look-ahead function helps
users perform processing operations according
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reduce processing time and effectively increase
production speed.
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speed that is not continuous. The precision and
speed of the processing operation is enhanced
and the processing can be evenly applied.
a
b
c
d
e
Feed Rate
f
g
h
Shorten
Processing Time
(*
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Soft Numeric Control (SNC)
Breakpoint Search
Back and Release
Ź Through an internal program with breakpoint line
number information, users can search breakpoint
line numbers and labeled blocks from previous
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This greatly shortens the time for repetitive
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Ź To avoid damage to the machine and workpiece,
this function controls the tool's return to the
starting position following the original processing
path. The tool is released and workpiece safely
removed, avoiding damage to the machine.
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G01
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G00 Z 1.0000
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G01 Z 0.0000
G01 X245.0134 Y361.5895 Z 0.0000
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Manual Pulse Generator (MPG)
Simulation
Tool Management Function
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machining process under all operating conditions.
This guarantees processing stability and eliminates
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crash, and makes CNC processing safer and more
accurate.
Ź The tool management function provides a userfriendly interface and allows users to set the tool
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and input data for many workpiece coordinates
into the system memory. Users no longer need to
manually input mechanical coordinate values for
setup. Setting numbers of the required cutters via
the software can prevent repeated use and avoid
selecting the incorrect tool.
MPG
13
Soft Robot Control (SRC)
Software Structure
DSP
Software Layer, OS: Win XP
Motion Data
Share Memory
Motion Buffer
IO Parameter
NC Parameter
Communication Cyclic
TX/RX Data
User API
User UI
Teaching Result
Interpolation
Control Layer
DMCNET
SCARA Robot
Look Ahead
Hardware Layer
'(/7$5RERW
Palletizing Robot
Soft Robot Control (SRC) Library
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development platforms for easy programming and actual graphical functions for robot control.
Comprehensive Robot Control Functions
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dramatically ease the implementation of controlling different types of robots, such as SCARA robot,
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SCARA Robot
Palletizing Robot
14
DELTA Robot
Soft Robot Control (SRC)
Collision Detection
Motion Path Smoothing
Ź Collision detection mechanism prevents
mechanical damage to the robot and protects
peripheral equipment during operation. Users
can stop the motion of a robot before the collision
if they know where the obstacle position is and
set the speed and acceleration limit via software.
Achieving perfect security is possible.
Ź Motion path smoothing offers end-point path
smoothing and consecutive speed control to
smoothly position the end of robot arm for
shortening processing time.
Obstacle
Motion Scheduling
Ź Robot motion can be customized and
scheduled according to the needs of the
motion control processes.
Dynamic Speed Adjustment
Ź Robot speed can be dynamically adjusted to the
requirements of the applications.
1
2
3
Robot Oriented Motion Modes
Ź The SRC provides robot oriented motion models to
control a robot in different ways, such as point-topoint, end-point linear motion, end-point arc motion,
end-point constant speed, SCARA robot control,
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distance movement and other motion control modes.
This reduces the barriers to robot control and makes
programming robots easier.
Robot Jogging
Ź This controls the arm joints' jogging movement
with geodetic coordinates for jogging to make
processing and tuning even easier.
15
Soft Programmable Logic Controller (SoftPLC)
SoftPLC Software Features
Standard PLC Programming Languages
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languages for programmable control systems: FBD (Function Block Diagram),
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save development time, and lower maintenance and support costs while eliminating
confusion. It makes engineering easier and the software is reusable across Delta's
PAC platform.
EtherCAT Communication Protocol
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slave modules motion control modules without interfering with wiring across different solutions.
Tasks and Function Blocks
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programming, I/O control or motion control. In this way programming is less hardware dependent,
application development requires less effort, and it saves costs involved in training and support.
16
IPC Motion Platform (IMP)
A Simple and Fast Setup Development Platform for
Realizing Unsurpassed Motion Control
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precise motion control based on customers' development needs.
Ź Powerful
Motion Control Kernel: Upgrades Delta's PAC and PC with motion control card installed to become an advanced
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Ź Customized
Platform for Secondary Development: &RPELQHV'HOWD
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RQHFXVWRPHUGULYHQSODWIRUPPDNLQJFRPSOH[SURJUDPPLQJDQGGHYHORSPHQWHDV\DQGQRWWLPHFRQVXPLQJ1RQHHGWRGHSHQG
on technical support from the manufacturer.
Ź Scalable
Communication for Expandable Network: Three DMCNET communication networks with up to 36 stations can be
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Ź Industry-Oriented
Controller: Soft Numeric Control (SNC) and Motion Program Macro (MPM) are provided for users to adjust and
modify self-developed motion paths and commands in accordance with changing application requirements.
Ź Standard
Communication Interfaces: Supports built-in standard MODBUS and MODBUS TCP gateways to enable data
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Download
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After installing the HMI editor DOPSoft 3.0 on a PC, users can
use Delta's PAC with the IMP for effortless development without
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There is no need to use C or C++ programming language for
programming. The HMI Editor DOPSoft 3.0 provides a simple
path for easy programming and to quickly download customized
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industry applications, such as numerical control (NC), the IMP
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for secondary development and to customize their applications.
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allows users to control servo systems and remote I/O modules,
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arc interpolation, continuous speed and other motions. The IMP
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The IMP is the kernel of the system, like the firmware of a motion
controller, which runs on one of the processors of a multi-core PC or
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machine applications via software and VGA display only.
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MODBUS communication is equipped as standard, Soft Numeric
Control (SNC) and Motion Program Macro (MPM) are also provided for
users to change and calibrate motion paths and commands for different
application requirements.
VGA Display
IPC
IP
PC M
Motion Platform
DMCNET
Motion Control Card
Host PAC
Panel PAC
ASDA-A2 or ASDA-B2
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DMCNET
GA (Main Station) +
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RM
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RM
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(Remote Module)
(Pulse Output Module)
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time users of Delta's DMCNET motion control cards can utilize the motion control card functions.
Ź User-Friendly Operator Interface
In EzDMC, clear images and familiar easy-to-use parameters
settings help users create and edit programs quickly. Servo
gains can also be automatically tuned to the optimum values
only via the servo tuning functions provided in EzDMC.
Ź Independent Control Unit
When DMCNET serial communication is set up, users can read and write the parameters into
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19
Ź Multi-Axis Motion Control Modes
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LQWHUSRODWLRQ8VHUVFDQFKRRVHGLIIHUHQWFRQWUROPRGHVVXFKDV/LQHDU
/LQHDU+HOL&LUFOH&LUFOHDQG&LUFOHWRVXSHUYLVHYDULRXVPXOWLD[LV
PRWLRQVDQGH[HFXWHSURJUDPPLQJIRUPXOWLD[LVPRWLRQFRQWURODSSOLFDWLRQV
Ź Real Time Response and Feedback
Through EzDMC, monitoring and displaying the status
RIWKHFRQQHFWHGVHUYRGULYHVLVQRWGLI¿FXOWDQGFDQ
EHFRPSOHWHGLQDWLPHO\DQGHI¿FLHQWPDQQHU
20
)LHOGEXV9HUL¿FDWLRQDQG9DOLGDWLRQ(F1DYL6RIWZDUH
Ź EtherCAT Automation Software
(F1DYLGHYHORSPHQWVRIWZDUHLVIRUFRQ¿JXULQJDQ(WKHU&$7QHWZRUNWKDWLQFOXGHVDQ(WKHU&$7
PDVWHUFRQWUROOHUDQGVODYHGHYLFHVIRUGDWDFRPPXQLFDWLRQIXQFWLRQDOLGHQWL¿FDWLRQSURJUDPPLQJ
DQGGHEXJJLQJ)RU¿UVWWLPHXVHUVZKRXVH'HOWD
V(WKHU&$7PRWLRQFRQWUROWKH(F1DYLKHOSV
WKHPEHFRPHIDPLOLDUZLWKWKHFRQ¿JXUDWLRQRIWKHV\VWHPDQGWRFRPSOHWHWKHIXQFWLRQYHUL¿FDWLRQ
and validation more quickly.
Ź Hardware Structure Search
When wiring is completed, users can use this function to
search all connecting EtherCAT slaves under EtherCAT
PDVWHUVIRUFKHFNLQJKDUGZDUHFRQ¿JXUDWLRQDQG
FRQ¿UPLQJWKHQHWZRUNFRPPXQLFDWLRQLVHVWDEOLVKHG
successfully through software without writing programs.
Ź Speed Curve Tracing
This function can synchronously trace the speed
curves of current motion commands to achieve
better synchronization effects between multiple
D[HVLQPRUHHI¿FLHQWZD\V
21
Ź Independent Control Unit
$IWHUFRQ¿UPLQJ(WKHU&$7FRQQHFWLRQLVVHWXSMXVW
click on the servo drive listing in the left tree structure,
DQGDQRSHUDEOHGLDORJXHER[ZLOOSRSXSWRGLVSOD\WKH
connecting servo drives for settings and controls. The
function of the independent control unit helps users
DYRLGZULWLQJFRPSOH[SURJUDPVDQGLPPHGLDWHO\YHULI\
all motion commands with the servo drives to meet
application requirements.
Ź Multi-Axis Motion Control Mode
Same as the EzDMC software for DMCNET devices,
WKH(F1$9,DOVRRIIHUVPDQ\H[DPSOHSURJUDPVIRU
PXOWLD[LVDSSOLFDWLRQVIRU(WKHU&$7GHYLFHV7KHEXLOW
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Circle, Circle2 and Circle3 are provided to help users
easily edit and complete development programs for
PXOWLD[LVPRWLRQFRQWURO
22
Dimensions
MH1 Series
'LPHQVLRQVPP/[PP:[PP+
Front View
Lateral View
175 (6.89)
127 (6.89)
(H)
175 (6.89)
Rear View
230 (9.06)
(W)
127 (4.9)
230 (9.06)
Note: All models of the MH1 Series
have the same dimensions
([WHULRU'HVFULSWLRQ
A
Interface
A
Status Indicator
B
Power Switch
C
CFast Card Slot
B
C
*D
*E
*D
Digital Input / Output Port
*E
DMCNET Communication
175mm
F
F
USB 2.0 Port
G
1 Gbps Ethernet Port
H
3&,3&,H([WHQVLRQ6ORW
H
I
Serial Communication Port
I
J
VGA Output Connector
J
K
Power Supply Terminal
K
/
Reset Switch
/
G
* The EtherCAT models do not have this interface.
127mm
23
0RGHO([SODQDWLRQ
MH1 Series
M H 1 - A I 2 D - A 1 1 D D
Product Name:
Customer Version:
Motion Control Host 1st Generation
DD = Windows XP Embedded
DE = Windows XP Embedded
+ RTX OS + EtherCAT Master
DF = Windows 7 Embedded(32-bit)
+ RTX OS + EtherCAT Master
DG = Windows 7 Embedded (32-bit)
DM = Windows 7 Embedded (32-bit)
+ IPC Motion Platform
CPU Information:
A12 = Intel Atom E3845 Quad Core 1.91GHz
C50 = Intel Core i5-3610ME Dual Core 2.7GHz
C70 = Intel Core i7-3612QE Quad Core 2.1GHz
Communications:
CFast Card & SSD Card Options:
D = DMCNET
N = N/A or EtherCAT
0
1
2
3
Extension Slot Interface:
1R([WHQVLRQ6ORW
A = 2 PCI slots
% 3&,HVORWV[[
& 3&,HVORWV[[
CFast
SSD
16GB
32GB
16GB
-
DRAM & Micro-SD(eMMC) Options:
0
1
2
Ordering Information
DRAM
micro-SD
4GB
2GB
4GB
4GB
6SHFL¿FDWLRQV0+6HULHV
Model Name
Processor
Processor
System
Display Interface
I/O Interface
System Chipset
MRAM
BIOS
System Memory
CRT
Ethernet
DMCNET
EtherCAT
USB
Serial Port
Digital Input
Digital Output
Encoder Input
Compare Output
Expansion
Storage
Power
Requirements
Mechanical
Environment
CFast card
eMMC
Solid State Disk
Input Voltage
Power Consumption*
Mounting
Dimensions (W x H x D)
Weight
Operation Temperature
Storage Temperature
Humidity
MH1-A12D
MH1-A12N
Intel Atom E3845 Quad Core
1.91GHz
[
MH1-C50D
MH1-C50N
MH1-C70D
MH1-C70N
Intel Core i5-3610ME Dual Core
Intel Core i7-3612QE Quad Core
2.7GHz
2.1GHz
Intel QM77
128KB
AMI BIOS
''5/'HIDXOW*%VXSSRUW(&&
[''5'HIDXOW*%0D[*%VXSSRUW(&&
[+]
[+]
[,(((XDE*ESV
O
[
O
[
O
[
O
[
O
[
[86%
[56+DUGZDUHDXWRÀRZFRQWURO
1-CH isolated,
1-CH isolated,
1-CH isolated,
[
[
24VDC Sink (5mA/CH)
24VDC Sink (5mA/CH)
24VDC Sink (5mA/CH)
1-CH isolated, 24VDC
1-CH isolated, 24VDC
1-CH isolated, 24VDC
[
[
Sink (10mA/CH)
Sink (10mA/CH)
Sink (10mA/CH)
2-CH isolated, QEP±
[
2-CH isolated, QEP±
[
2-CH isolated, QEP±
2-CH isolated, CMP±
[
2-CH isolated, CMP±
[
2-CH isolated, CMP±
>[3&,VORW@[
[3&,VORW
>[3&,HVORW@[>[3&,HVORW@[
[
O
[
[
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[
[&)DVW&DWRSWLRQDO
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[
[
[
[
[6$7$66'RSWLRQDO
DC12~30V
24V / 1A / 24W
24V / 1.25A / 30W
24V / 1.42A / 34W
Desk / Wall-mounting
[[PP´[´[´
4.7 Kg
0°C ~50°C
-30ƒ C ~ 85ƒ C
0% to 90% RH (non-condensing)
Vibration During Operation
*UPV,(&UDQGRPa+]KUD[LV
Shock During Operation
75 G, IEC 60068-2-27, half sine, 11 ms duration
Safety &HUWL¿FDWLRQ
Software
Support
Windows XP Embedded
Windows 7.0 / 7
Embedded
Real Time OS (RTX)
X
O
O
X
O
)XOOORDGQRWLQFOXGLQJH[WHUQDOVWRUDJH&)DVW66'RU3&,3&,HFDUG
24
X
O
X
O
Dimensions
MP1 Series
261mm
189mm
A B C
D E
F
GH
Exterior Description
A
24VDC Power Input
F
2 USB 2.0 Ports
B
Digital Input / Output Port
(8 inputs / 4 outputs)
G
1 Gbps Ethernet Port
C
RS-422 / RS-485
H
DMCNET Communaction
D
VGA Output Connector
I
Reset Switch
E
RS-232
J
CFast Card Slot
Ordering Information
Optional Accessories
Hardware
Delta Part Number
IPC-CFAMB016I1
Descriptions
&)$670/&6$7$,,,*%,112',6.
Delta Part Number
IPC-SSDMB064I1
Descriptions
66'0/&6$7$,,,*%,112',6.
Delta Part Number
IPC-CFASA016I0
Descriptions
&)$676/&6$7$,,*%75$16&(1'
25
I
J
0RGHO([SODQDWLRQ
MP1 Series
M P 1 - A 1 0 N - 10 1 1 D D
Customer Version :
Product Type:
DD = Windows XP Embedded
DE = Windows XP Embedded
+ RTX OS + EtherCAT Master
DF = Windows 7 Embedded (32-bit)
+ RTX OS + EtherCAT Master
DG = Windows 7 Embedded (32-bit)
DM = Windows 7 Embedded (32-bit)
+ IPC Motion Platform
Motion Control Panel 1st Generation
CPU Information:
A10 = Intel Atom E3825 Dual Core 1.33GHz
Communications:
CFast Card & SSD Card Options:
D = DMCNET
N = N/A or EtherCAT
Display Size:
0
1
2
3
05 = 5''
10 = 10''
12 = 12''
15 = 15''
CFast
SSD
16GB
32GB
16GB
-
DRAM & Micro-SD(eMMC) Options:
0
1
2
Ordering Information
DRAM
4GB
2GB
4GB
micro-SD
4GB
6SHFL¿FDWLRQV036HULHV
MP1-A10D-10
Model Name
Processor
System
Display
Interface
I/O Interface
Storage
Processor
MRAM
BIOS
System Memory
LCD Panel
Touch Panel
LED
CRT
Ethernet
DMCNET
USB
Serial Port
Intel Atom E3825 Quad Core 1.33GHz
128KB
AMI BIOS
''5/*%VXSSRUWV(&&
7)7/&'FRORU[SL[HOV:;*$/('EDFNOLJKW+[9PP
ZLUH5HVLVWLYH0D[ELW5HVROXWLRQ
POWER / RUN / ERROR
[+]
[,(((XDE*ESV
O
[86%
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Digital Input
8-CH isolated, 24VDC Sink / Source (5mA/CH)
Digital Output
4-CH isolated, 24VDC Sink (500mA/CH)
CFast Card
[&)DVW&DWRSWLRQDO
eMMC
[H00&2SWLRQDO
Solid State Disk
Build-in 16GB SSD
Power
Requirements
Input Voltage
DC12~30V
Power Consumption*
24V/0.7A/16.8W
Mounting
wall-mounting
Mechanical
Dimensions (W x H x D)
[[PP(10.66ą[ą[ą)
Environment
Weight
1.75 KG
Operation Temperature
0ƒ C ~50ƒ C
Storage Temperature
-20ƒ C ~ 60ƒ C
Humidity
0% to 90% RH (non-condensing)
Vibration During Operation
*UPV,(&UDQGRPa+]KUD[LV
Shock During Operation
75 G, IEC 60068-2-27, half sine, 11 ms duration
Safety &HUWL¿FDWLRQ
Software
Support
Protection Level
IP65
Windows 7.0 / 7 Embedded
O
)XOOORDGQRWLQFOXGLQJH[WHUQDOVWRUDJH&)DVW66'RU3&,3&,HFDUG
26
'0&1(75HPRWH0RGXOHV
Digital Input Remote Modules
Ź ASD-DMC-RM32MN (32 Digital Inputs)
Ź ASD-DMC-RM64MN (64 Digital Inputs)
Ź ASD-DMC-RM32PT (16 Digital Inputs / 16 Digital Outputs)
ɣ(OHFWULFDO6SHFL¿FDWLRQV
Model Name
RM32MN / RM64MN / RM32PT
Input circuit type
Single common port input
Input signal type
SINK / SOURCE
Input signal voltage
24 VDC (5mA)
Response time
0 to 3 ms, adjustable
ơ 16.5 VDC
Action level (OFF ơ ON)
Action level (ON ơ OFF)
Ɵ 8 VDC
Noise Tolerance Threshold
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9&RPPXQLFDWLRQ,2.9
RS (IEC 61131-2, IEC 61000-4-3): 80 MHz ~ 1 GHz, 10 V/m
Environment
Operating Temperature: 0 ºC ~ 50 ºC ;
Storage Temperature: -20 ºC ~ 70 ºC
ɣ Installation & Wiring
MH1 Series
MP1 Series
/PP
NPN Wiring
W:75 mm
H:43 mm
/PP
PNP Wiring
W:75 mm
H:43 mm
+V (Brown)
$[OV;3XUSOH
$[OV<*DU\
MPG
$[OV=:KLWH
(Manual Pulse
$[OV8%ODFN
Generator)
RATE(X1) (Brown & White)
RATE(X10) (Red & White)
5$7(;/LJKW*UHHQ
EN
EGND
D (Red)
*EN and EGND need to be
short-circuited in the MPG
mode.
+V (None)
Phase A (Purple)
Phase B (Gary)
JOG 1+ (None)
JOG 1- (None)
JOG 2+ (None)
JOG 2- (None)
JOG 3+ (None)
JOG 3- (None)
EGND (Black & White)
(Orange & White)
*MPG can only be used for the terminals of P3H and P3L of ASD-DMC-RM64MN.
27
Digital Output Remote Modules
Ź ASD-DMC-RM32NT (32 Digital Outputs)
Ź ASD-DMC-RM64NT (64 Digital Outputs)
Ź ASD-DMC-RM32PT (16 Digital Inputs / 16 Digital Outputs)
ɣ Non-volatile memories can be managed through a software API
ɣ/RDG2XWSXW$3RLQW
ɣ(OHFWULFDO6SHFL¿FDWLRQV
Model Name
RM32NT / RM64NT
Output circuit type
Transistor
Output signal type
SINK
&XUUHQWVSHFL¿FDWLRQV
0.1 A / 1 point
9ROWDJHVSHFL¿FDWLRQV
24 VDC
0D[LPXPVZLWFKLQJ
(operating) frequency
1 KHz
Action level (OFF ơ ON)
20 us
Action level (ON ơ OFF)
30 us
Noise Tolerance Threshold
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9&RPPXQLFDWLRQ,2.9
RS (IEC 61131-2, IEC 61000-4-3): 80 MHz ~ 1 GHz, 10 V/m
Environment
Operating Temperature: 0 ºC ~ 50 ºC ;
Storage Temperature: -20 ºC ~ 70 ºC
ɣ Installation & Wiring
MH1 Series
MP1 Series
/PP
W:75 mm
H:43 mm
/PP
W:75 mm
H:43 mm
28
'0&1(75HPRWH0RGXOHV
Ź ASD-DMC-RM04PI (4-Channel Pulse)
Ŷ
Ŷ
Ŷ
Ŷ
Ŷ
4 channels of 200 kHz pulse outputs (Pulse +Direction, CCW pulse +CW pulse, A phase + B phase)
4 channels of 200 kHz pulse inputs (CCW pulse +CW pulse, A phase + B phase)
'LJLWDO,QSXWV['LJLWDO2XWSXWV[
%XLOWLQ3RVLWLYH1HJDWLYH/LPLWDQG+RPHIRUHDFKFKDQQHO
In Mode 1, each RM04PI module occupies one node number only, and interpolation motion is
carried out within one module.
- 4 channels occupy 1 node number only
- Transfers data in cyclical patterns
- 4 channels occupy one PDO and SDO
- Motion commands set by parameters
- Performs interpolation motion of 4 channels within
- Point-to-Point motion mode, motion position
one RM04PI module only
calculation is performed within one RM04PI module
Ŷ In Mode 2, each RM04PI module occupies node numbers 1~4, which correspond to 4 channels.
The interpolation motion can be carried out among different modules.
ɣ(OHFWULFDO6SHFL¿FDWLRQV
ASD-DMC-RM04PI
Item
Input (QA, QB, QZ, DI1, DI2)
Circuit Type
Single
Signal Type
SINK
ASD-DMC-RM04PI
Power Supply
Voltage
5 VDC
Work
Frequency
QA, QB, QZ : 200 kHz (5 mA / 1 point)
Dl1, Dl2 : 1 kHz (5 mA / 1 point)
Noise
Immunity
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air
Discharge
EFT (IEC 61131-2, IEC 61000-4-4): Power
/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, IEC 61000-4-3):
80 MHz ~ 1 GHz, 10 V/m
Operating/
Storage
Environment
Input (MEL, PEL, ORG,
SLD)
Output (CW, CCW, DO1,
DO2)
Circuit Type
Single
Transistor
Signal Type
SINK / SOURCE
SINK
Power Supply Voltage
24 VDC (5 mA)
5~24 VDC (30 mA / 1 point)
Response Time/
Work Frequency
1 ms
CW, CCW : 200 kHz
DO1, DO2 : 1 kHz
$FWLYH/HYHO2))!21
ơ 16.5 VDC
-
$FWLYH/HYHO21!2))
Ɵ 8 VDC
-
Item
Operation: 0 ºC ~ 50 ºC (32 ºF ~ 122 ºF)
Storage: -20 ºC ~ 70 ºC (-4 ºF ~ 158 ºF)
Noise Immunity
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, IEC 61000-4-3):
80 MHz ~ 1 GHz, 10 V/m
Operating/Storage
Environment
Operation: 0 ºC ~ 50 ºC (32 ºF ~ 122 ºF)
Storage: -20 ºC ~ 70 ºC (-4 ºF ~ 158 ºF)
ɣ Installation & Wiring
MH1 Series
MP1 Series
Stepping
Motors
㭌怙榓总
/ 168 mm
H:40mm
W: 75 mm
29
Ź ASD-DMC-RM04AD (4-Channel Analog Input)
ɣ(OHFWULFDO6SHFL¿FDWLRQV
ɣ Installation & Wiring
ASD-DMC-RM04AD
Channel
4 Channels / module
Voltage Analog Input
Range
-10 ~ 10 V / -5 ~ 5 V / 0 ~ 10 V / 0 ~ 5 V
Current Analog Input
Range
0 ~ 24 mA
Digital Conversion
Range
0 ~ 65535
Resolution
16 bits
Voltage Input Resistance
140 kʈ
MH1 Series
MP1 Series
/ 100 mm
Current Input Resistance
249 ʈ
General Precision
Within ›0.5% (25 ºC, 77 ºF) at full scale
Within ›1% (0 ~ 55 ºC, 32 ~ 131 ºF) at full scale
Response Time
0LQPV0D[PVĿ the number of channels.
Isolation
Internal circuit and analog output terminals are isolated with an
optical coupler
Voltage Absolute Input
Range
-15 ~ 15
Current Absolute Input
Range
32 mA
W: 75 mm
H: 43 mm
Digital Data Format
VLJQL¿FDQWELWV
Sampling Mode
Five modes which the average number is two (2), four (4), eight
VL[WHHQDQGWKLUW\WZRDUHDYDLODEOHIRUVHOHFWLRQ
Ź ASD-DMC-RM04DA (4-Channel Analog Output)
ɣ Installation & Wiring
ɣ(OHFWULFDO6SHFL¿FDWLRQV
ASD-DMC-RM04DA
Channel
4 Channels / module
Voltage Output Range
-10 ~ 10 V / -5 ~ 5 V / 0 ~ 10 V / 0 ~ 5 V
Current Output Range
0 ~ 24 mA / 0 ~ 20 mA / 4 ~ 20 mA
([FHVV/LPLW9ROWDJH
10 %
0D[LPXP2XWSXW&XUUHQW
(Voltage)
20 mA
$OORZDEOH/RDG
Resistance (Current)
0 ~ 500 ʈ
Digital Data Range
0 ~ 4096
MH1 Series
MP1 Series
/ 100 mm
Resolution
16 bits
DC Output Resistance
0.3 ʈ
Response Time
1 ms
Digital Data Format
VLJQL¿FDQWELWV
Isolation
Internal circuit and analog output terminals are isolated with an
optical coupler.
Protection
Voltage output is protected by short circuit. Short circuit lasting
for too long may cause damage to internal circuits.
Current output can be open circuit
W: 75 mm
30
H: 43 mm
Ź HMC-RIO3232RT5 (Digital I/O Remote Module)
ɣSRLQWVUHOD\W\SHRXWSXWXQLW0D[LPXPORDGLQJ$3RLQW
with non-volatile memory function
ɣSRLQWVWUDQVLVWRUW\SHRXWSXWXQLW0D[LPXPORDGLQJ$3RLQW
ɣ 32 points digital input unit – supports SINK and SOURCE modes
ɣ(OHFWULFDO6SHFL¿FDWLRQV
Item
HMC-RIO3232RT5
Supply Voltage
24VDC (15% ~ 20%)
Power Consumption
1.2W
Noise Immunity
RS: Frequency: 80MHz ~ 1GHz, 1.4GHz ~ 2.0GHz, Test level 10V/m
ESD: Contact discharge ›8KV Air discharge ›8KV
EFT: ›2KV(Power port), ›2KV (I/O line), Surge: ›2KV (RIO power port)
Temperature
OperatingƝ0ºC ~ 55ºC (Temperature)Ə10 ~ 90% (Humidity)ƞ
StorageƝ-20ºC ~ 60ºC (Temperature)Ə10 ~ 90% (Humidity)
Vibration
IEC 61131-2 compliant 5Hz ~ 8.3Hz = Continuous: 3.5mm, 8.3Hz ~ 150Hz = Continuous: 1.0g
Shock
IEC 60068-2-27 compliant 15g peak for 11 ms duration X, Y, Z directions for 6 times
Weight
$SSUR[J
Item
Input Signal Type
Input Port
SINK / SOURCE
Input Signal
Voltage
24 VDCƋ5 mAƌ
Response Time
0 to 3 ms, adjustable
$FWLRQ/HYHO
2))!21ơ 16.5 VDC
21!2))Ɵ 5 VDC
Item
Output Port
Output Circuit Type
Transistor / Relay
9ROWDJH6SHFL¿FDWLRQV
24 VDC (-10%~+15%) / < 250 VAC (Relay Only)
&XUUHQW6SHFL¿FDWLRQV
100 mA / 1 Point (Transistor),
$3RLQW5HOD\5HVLVWLYH/RDG
0D[LPXP6ZLWFKLQJ
(Operating) Frequency
N+=75+]5(/$<
Response Time
7521!2))ʛV2))!21ʛs
5(/$<21!2))PV2))!21PV
ɣ Installation & Wiring
or
/ 286 mm
W: 122 mm
100 mA
2A
31
*DWHZD\7\SH5HPRWH3RZHU&RXSOHU
Ŷ 2QH*$FDQFRQQHFWXSWRDPD[LPXPRI*(UHPRWHPRGXOHVRIZKLFKWKHUHPD\EHDPD[LPXP
of four GE01PH modules.
Ŷ One GE01PH module occupies one node number.
Ŷ The EzDMC provides a software auto calculation function for calculating the numbers of start and end
stations of ASD-DMC-GA01.
ɣ Master Module - GA Series
ɣ ASD-DMC-GA01 Switching Settings Settings
Front View
W: 37 mm
ADDR1
Pin
Function
Explanation
1 ~ 12
Start Node Address
Start Station
ADDR1
/ 90mm
ADDR1 & ADDR2
Pin
Function
Explanation
1 ~ 12
End Node Address
End Station
There is no communication when the value is set to 0 and 13 ~ 15.
When ADDR1 is set to 1 and ADDR2 is set to 2, it indicates that the remote
modules have occupied two stations.
H: 63 mm
*DWHZD\7\SH'LJLWDO,25HPRWH0RGXOH
ɣ Slave Module - GE Series
Front View
Ź Gateway Type 1-Channel Pulse Remote Module
W: 25 mm
ASD-DMC-GE01PH
ɣ(OHFWULFDO6SHFL¿FDWLRQV
/ 90 mm
ASD-DMC-GE01PH
Item
Input
Output
Circuit Type
Single common port input
Transistor
Signal Type
SINK / SOURCE
SINK
5 ~ 24 VDC (30 mA/1 point)
Signal Voltage
24 VDC (5 mA)
Response Time
1 ms
0D[LPXP,QSXW3XOVH
Frequency
QA+, QB+, QZ+, QA-, QB-, QZ- :
4 MHz (5 mA / 1 point)
CW, CCW : 4 MHz (30 mA / 1 point)
69215$/0N+]P$SRLQW
$FWLRQ/HYHO2))! ON)
ơ 16.5 VDC
-
7ULJJHU/HYHO21! OFF)
Ɵ 8 VDC
-
Output Circuit Type
-
RS-422
Output Signal Type
-
differential
H: 63 mm
32
$6'$$)'0&1(76HUYR'ULYH6SHFL¿FDWLRQV
6'$ $ )'0&1(76HUYR'ULYH6SHFL¿FDW
ASDA-A2-F Series
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4.5 kW
5.5 kW
7.5 kW
01
02
04
07
10
15
20
30
45
55
75
Phase / Voltage
Power
supply
Permissible Voltage Range
Three-phase / Single-phase 220 VAC
3-phase 220 VAC
1-phase / 3-phase 200 ~ 230 VAC, -15% ~ 10%
3-phase 200 ~ 230 VAC, -15% ~ 10%
Input Current (3PH) (Units: Arms)
0.39
1.11
1.86
3.66
4.68
5.9
8.76
9.83
17.5
19.4
26.3
Input Current (1PH) (Units: Arms)
0.69
1.92
3.22
6.78
8.88
10.3
-
-
-
-
-
Continuous Output Current (Units: Arms)
0.9
1.55
2.6
5.1
7.3
8.3
13.4
19.4
32.5
40
47.5
Cooling System
Natural Air Circulation
Encoder Resolution / Feedback Resolution
Fan Cooling
Incremental encoder: 20-bit (1280000 p/rev); Absolute encoder: 17-bit
Control of Main Circuit
SVPWM (Space Vector Pulse Width Modulation) Control
Tuning Modes
Regenerative Resistor
Max. Input Pulse Frequency
Position Control Mode
(Only for Non-DMCNET mode)
Pulse Type (Only for Non-DMCNET mode)
Command Source
Auto / Manual
None
Built-in
0D[.SSV0SSV/LQHGULYHU0D[.SSV2SHQFROOHFWRU
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
([WHUQDOSXOVHWUDLQ37PRGH(Only for Non-DMCNET mode) / Internal parameters (PR mode)
/RZSDVVDQG3FXUYH¿OWHU
Smoothing Strategy
Electronic Gear
([WHUQDO
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)
Torque Limit Operation
Set by parameters
Feed Forward Compensation
Set by parameters
33
ASDA-A2-F Series
Analog Input
Command
Speed Control Mode
(Only for Non-DMCNET
mode)
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4.5 kW
5.5 kW
7.5 kW
01
02
04
07
10
15
20
30
45
55
75
Voltage Range
0 ~ ±10 VDC
Input Resistance
.ȍ
Time Constant
ȝV
Speed Control Range
*1
Command Source
1: 5000
/RZSDVVDQG6FXUYH¿OWHU
Smoothing Strategy
Torque Limit Operation
1: 3000
([WHUQDODQDORJVLJQDO(Only for Non-DMCNET mode) / Internal parameters
Set by parametersor via analog input (Only for Non-DMCNET mode)
0D[LPXPN+]
Frequency Response Characteristic
RUOHVVDWWRORDGÀXFWXDWLRQ
Speed Accuracy*2
RUOHVVDW“SRZHUÀXFWXDWLRQ
(At rated rotation speed)
Torque Control Mode
RUOHVVDWž&WRž&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
Analog Input
Command
(Only for Non-DMCNET
mode)
Voltage Range
.ȍ
ȝV
Time Constant
Command Source
([WHUQDODQDORJVLJQDO(Only for Non-DMCNET mode) / Internal parameters
/RZSDVV¿OWHU
Smoothing Strategy
Speed Limit Operation
Analog Monitor Output
Digital Inputs / Outputs
0 ~ ±10 VDC
Input Resistance
Inputs
Set by parameters or via analog input (Only for Non-DMCNET mode)
Monitor signal can set by parameters (Output voltage range: ±8 V)
6HUYRRQ5HVHW*DLQVZLWFKLQJ3XOVHFOHDU=HURVSHHG&/$03&RPPDQGLQSXWUHYHUVHFRQWURO&RPPDQG
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
FRPPDQGVZLWFKLQJ(PHUJHQF\VWRS)RUZDUG5HYHUVHLQKLELWOLPLW5HIHUHQFH+RPHVHQVRU)RUZDUG
5HYHUVHRSHUDWLRQWRUTXHOLPLW0RYHWR+RPH(OHFWURQLF&DP(&DP)RUZDUG5HYHUVH-2*LQSXW(YHQW
trigger PR command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
* Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital
inputs into the servo drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and
5HIHUHQFH+RPHVHQVRURQO\
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHUDQG=2SHQ&ROOHFWRU
Outputs
Protective Functions
Communication Interface
Installation Site
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
ZDUQLQJDFWLYDWHG3RVLWLRQFRPPDQGRYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQG
completed, Capture operation completed output., Motion control completed output., Master position of E-Cam
(Electronic Cam)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal
SXOVHFRQWUROFRPPDQG([FHVVLYHGHYLDWLRQ(QFRGHUHUURU$GMXVWPHQWHUURU(PHUJHQF\VWRSDFWLYDWHG
5HYHUVH)RUZDUGOLPLWVZLWFKHUURU3RVLWLRQH[FHVVLYHGHYLDWLRQRIIXOOFORVHFRQWUROORRS6HULDOFRPPXQLFDWLRQ
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 / DMCNET
Indoor location (free from direct sunlight),
QRFRUURVLYHOLTXLGDQGJDVNHHSIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Environment
Altitude
Altitude 1000m or lower above sea level
Atmospheric Pressure
86 kPa ~ 106 kPa
Operating Temperature
0 ºC ~ 55 ºC (If operating temperature is above 45ºC, forced cooling will be required)
Storage Temperature
-20 ºC ~ 65 ºC (-4 ºF to 149 ºF)
Humidity
0 ~ 90% RH (non-condensing)
Vibration
9.80665m/s2 (1G) less than 20 Hz, 5.88 m/s2 (0.6G) 20 to 50 Hz
IP Rating
IP20
TN System*3
Power System
&HUWL¿FDWLRQV
,(&(18/&&WLFN
Footnote:
*1. 5DWHGURWDWLRQVSHHG:KHQIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
*2. :KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
*3. 71V\VWHP$SRZHUGLVWULEXWLRQV\VWHPKDYLQJRQHSRLQWGLUHFWO\HDUWKHGWKHH[SRVHGFRQGXFWLYHSDUWVRIWKHLQVWDOODWLRQEHLQJFRQQHFWHGWRWKDWSRLQWVE\SURWHFWLYHHDUWKFRQGXFWRU
34
$6'$%)'0&1(76HUYR'ULYH6SHFL¿FDWLRQV
ASDA-B2 Series
100 W
01
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
02
04
07
10
15
20
30
Power Supply
Three-phase 170 ~ 255 VAC , 50/60 Hz ›5%
Three - phase
170 ~ 255 VAC, 50 / 60 Hz
›5%
Phase / Voltage
Single-phase 200 ~ 255 VAC , 50/60 Hz ›5%
Input Current (3PH) (Units: Arms)
0.7
1.11
1.86
3.66
4.68
5.9
8.76
9.83
Input Current (1PH) (Units: Arms)
0.9
1.92
3.22
6.78
8.88
10.3
-
-
Continuous Output Current (Units: Arms)
0.9
1.55
2.6
5.1
7.3
8.3
13.4
19.4
Cooling System
Natural Air Circulation
Fan Cooling
Encoder Resolution
17-bit (160,000 p/rev)
Main Circuit Control
SVPWM (Space Vector Pulse Width Modulation) Control
Control Mode
Regenerative Resistor
Position Control Mode
Max. Input Pulse Frequency
Pulse Type
Auto / Manual
None
Built-in
Transmitted by differential: 500 K (low speed) / 4 Mpps (high-speed)
Transmitted by open-collector: 200 Kpps
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source
([WHUQDOSXOVH
Smoothing Strategy
/RZSDVV¿OWHU
E-gear Ratio
Electronic gear N/M multiple N: 1 ~ (226 -1) / M: 1 ~ (231 -1)
(1/50 < N/M < 25600)
Torque Limit Operation
Set by parameters
Feed Forward Compensation
Set by parameters
35
ASDA-B2 Series
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
01
02
04
07
10
15
20
30
Voltage Range
Speed Control Mode
Analog Input
Command
0 ~ ›10 VDC
Input Resistance
.ȍ
Time Constant
2.2 ȝV
Speed Control Range*1
Command Source
1:5000
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
Smoothing Strategy
/RZSDVVDQG6FXUYH¿OWHU
Torque Limit
Set by parameters or via analog input
Bandwidth
0D[LPXP+]
›DWWRORDGÀXFWXDWLRQ
Speed Accuracy
*2
›0.01% at ›SRZHUÀXFWXDWLRQ
Torque Control Mode
›0.01% at 0 oC to 50 o&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
Voltage Range
Analog Input
Command
0 ~ ›10 VDC
Input Resistance
10 Kʈ
Time Constant
2.2 ȝV
Command Source
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
Smoothing Strategy
/RZSDVV¿OWHU
Speed Limit
Set by parameters or via analog input
Analog Monitor Output
Input
Digital Input /
Output
Monitor signal can set by parameters (Output voltage range: ›8 V)
Servo on, Fault reset, Gain switch, Pulse clear, Zero clamp, Command input reverse control, Torque limit,
Speed limit, Speed command selection, Speed / position mode switching, Speed / torque mode switching,
Torque / position mode switching, Emergency stop, Positive/negative limit, Forward / reverse operation torque
limit, Forward/reverse JOG input, E-gear N selection, Pulse input prohibition
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHU=2SHQFROOHFWRU
Output
Protective Functions
Servo on, Servo ready, Zero speed, Target speed reached, Target position reached, Torque limiting, Servo
alarm, Brake control, Early warning for overload, Servo warning
2YHUFXUUHQW2YHUYROWDJH8QGHUYROWDJH2YHUKHDW([FHVVLYHVSHHGGHYLDWLRQ([FHVVLYHSRVLWLRQGHYLDWLRQ
Encoder error, Emergency stop, Communication error, Short-circuit protection of terminal U, V, W and CN1,
CN2, CN3
Communication Interface
Installation Site
Environment
Altitude
RS-232 / RS-485
Indoor location (avoid direct sunlight), no corrosive liquid and gas
DYRLGRLOPLVWÀDPPDEOHJDVGXVW
Altitude 1000 m or lower above sea level
Atmospheric Pressure
86 kPa ~ 106 kPa
Operating Temperature
0 ºC ~ 55 ºC (If operating temperature is above 45 ºC, forced cooling will be required)
Storage Temperature
-20 ºC ~ 65 ºC (-4 ºF to 149 ºF)
Humidity
0 to 90% (non-condensing)
Vibration
Under 20 Hz, 9.80665 m/s2 (1G), 20 ~ 50 Hz 5.88 m/s2 (0.6 G)
IP Rating
IP20
TN System*3
Power System
IEC/EN 61800-5-1
&HUWL¿FDWLRQV
Footnote:
*1. When it is in rated load, the speed ratio is: the minimum speed (smooth operation) / rated speed.
*2. When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load - rotational speed with full load) / rated speed.
*3. 71V\VWHP7KHQHXWUDOSRLQWRIWKHSRZHUV\VWHPFRQQHFWVWRWKHJURXQGGLUHFWO\7KHH[SRVHGPHWDOFRPSRQHQWVFRQQHFWWRWKHJURXQGYLDWKHSURWHFWLYHHDUWKFRQGXFWRU
36
$6'$0'0&1(76HUYR'ULYH6SHFL¿FDWLRQV
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) (Units: Arms)
Input Current (1PH) (Units: Arms)
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
Three-Phase or Single-Phase 220 VAC
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
0D[.SSV0SSV/LQHGULYHU0D[.SSV2SHQFROOHFWRU
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
([WHUQDOSXOVHWUDLQ3WPRGH,QWHUQDOSURFHGXUHV3UPRGH
/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)
Set by parameters
0 ~ ›10 VDC
10 Kȍ
2.2 ȝV
1 : 5000
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
/RZSDVVDQG6FXUYH¿OWHU
Set by parameters or via analog input
0D[LPXPN+]
RUOHVVDWWRORDGÀXFWXDWLRQ
0.01% or less at ›SRZHUÀXFWXDWLRQ
RUOHVVDWž&WRž&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
37
750 W
ASDA-M Series
1.5 kW
07
15
Digital
Inputs/Outputs
Torque
Control Mode
Voltage Range
Analog Input
Input Resistance
Command
Time Constant
Command Source
Smoothing Strategy
Speed Limit Operation
Analog Monitor Output
0 ~ ›10 VDC
10 Kʈ
2.2 ȝV
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
/RZSDVV¿OWHU
Set by parameters or via analog input
Monitor signal can be set by parameters (Output voltage range: ›8 V)
6HUYR2Q5HVHW*DLQVZLWFKLQJ3XOVHFOHDU=HURVSHHG&/$03&RPPDQGLQSXWUHYHUVHFRQWURO&RPPDQGWULJJHUHG6SHHG
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,
5HIHUHQFH+RPHVHQVRU)RUZDUG5HYHUVHRSHUDWLRQWRUTXHOLPLW0RYHWR+RPH(OHFWURQLFFDP)RUZDUG5HYHUVH-2*LQSXW
Event trigger Pr command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
Inputs
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHUDQG=2SHQ&ROOHFWRU
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)
Outputs
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse control
FRPPDQG([FHVVLYHGHYLDWLRQ(QFRGHUHUURU$GMXVWPHQWHUURU(PHUJHQF\VWRSDFWLYDWHG5HYHUVH)RUZDUGOLPLWVZLWFKHUURU
3RVLWLRQH[FHVVLYHGHYLDWLRQRIIXOOFORVHFRQWUROORRS6HULDOFRPPXQLFDWLRQHUURU,QSXWSRZHUSKDVHORVV6HULDOFRPPXQLFDWLRQWLPH
out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
RS-232 / RS-485 / CANopen / USB
Protective Functions
Communication Interface
Installation Site
Altitude
Atmospheric pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
,QGRRUORFDWLRQIUHHIURPGLUHFWVXQOLJKWQRFRUURVLYHOLTXLGDQGJDVNHHSIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Environment
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
&HUWL¿FDWLRQV
IEC/EN 61800-5-1Ə8/&
Footnote:
*1. 5DWHGURWDWLRQVSHHG:LWKDIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
*2. :KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
*3. 71V\VWHP$SRZHUGLVWULEXWLRQV\VWHPKDYLQJRQHSRLQWGLUHFWO\HDUWKHGWKHH[SRVHGFRQGXFWLYHSDUWVRIWKHLQVWDOODWLRQEHLQJFRQQHFWHGWRWKDWSRLQWE\DSURWHFWLYHHDUWKFRQGXFWRU
6HUYR'ULYHDQG6HUYR0RWRU&RPELQDWLRQV
([DPSOHV
Servo Drives and Servo Motors
Servo Drives
Servo Motors
750 W Servo Drive
ASD-M-0721- ː
Options:
100 W
200 W
400 W
750 W
Options:
100 W
200 W
400 W
750 W
750 W Servo Drive
Options:
100 W
200 W
400 W
750 W
750 W
750 W
750 W
750 W Servo Drive
100 W
400 W
750 W
Output Capacity for
One Servo Motor: 750W Max.
Servo Drives
Servo Motors
1.5 kW Servo Drive
ASD-M-1521- ː
Options:
Options:
Options:
750 W
1 kW
1.5 kW
750 W
1 kW
1.5 kW
750 W
1 kW
1.5 kW
1.5 kW Servo Drive
1.5 kW
Output Capacity for
One Servo Motor: 750W Max.
38
1.5 kW
1.5 kW
1.5 kW Servo Drive
750 W
1 kW
1.5 kW
General Signals of Connector CN1
$6'$$)$6'$$5)$6'$%)
Signals
Pin No
Description
A2-F
A2R-F
B2-F
DI1
pin 9
pin 9
pin 1
DI2
pin 10
pin 10
pin 2
DI3
pin 34
pin 34
pin 3
DI4
pin 8
pin 8
pin 4
DI5
pin 33
pin 33
pin 5
DI6
pin 32
pin 32
DI7
pin 31
pin 31
DI8
pin 30
pin 30
Numbers
8
8
5
DO1+
pin 7
pin 7
pin 12
DO1-
pin 6
pin 6
pin 13
DO2+
pin 5
pin 5
pin 14
DO2-
pin 4
pin 4
pin 15
DO3+
pin 3
pin 3
DO3-
pin 2
pin 2
DO4+
pin 1
pin 1
DO4-
pin 26
pin 26
DO5+
pin 28
pin 28
DO5-
pin 27
pin 27
Numbers
5
5
2
OA+
pin 21
pin 21
pin 7
OA-
pin 22
pin 22
pin 8
OB+
pin 25
pin 25
pin 9
OB-
pin 23
pin 23
pin 10
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHU
output).
OZ+
pin 50
pin 50
OZ-
pin 24
pin 24
GND
pin 13
pin 13
pin 6
VCC voltage is based on GND.
pin 11
COM+ is the common input of Digital Input
(DI) voltage. Its positive end should connect to
COM+ and the negative end should connect to
COM-.
Digital Inputs (Positive / Negative limit, Original
point, Emergency stop). The DI can be set
EDVHGRQWKHUHTXLUHPHQWVVSHFL¿HGE\XVHUV
Digital Outputs (Brake control). The DO can
EHVHWEDVHGRQWKHUHTXLUHPHQWVVSHFL¿HGE\
users.
COM+
pin 11
pin 11
VDD
pin 17
pin 17
VDD is the +24 V power provided by the drive
and is for Digital Input (DI) and Digital Output
'2VLJQDO7KHPD[LPXPFXUUHQWLVP$
pin 45˚47˚49
COM- is the common input of Digital Input (DI)
voltage. Its positive end should connect to
COM+ and the negative end should connect to
COM-.
COM-
DI (Digital Input):
Internal Power
Supply (DC 24V)
pin 45˚47˚49
,QWHUQDODQG([WHUQDO ,QWHUQDODQG([WHUQDO
Power Supply
Power Supply
([WHUQDO3RZHU
Supply Only
39
&RQQHFWRU&1IRU'0&1(7&RPPXQLFDWLRQ
$6'$$)$6'$$5)$6'$%)$6'$0
The connector CN6 accepts RJ45 connectors and isolated cables for connecting Delta's
motion control card directly to servo drives and host controllers (external controllers).
With this connector CN6, servo drives can connect to a DMCNET high-speed motion
control system and perform position, speed and torque control. It also can be used to
read and monitor the status of the servo drives through DMCNET communication.
Pin No
Signal Name
Description
1, 9
DMCNET_1A
DMCNET Channel 1 bus line (+)
2, 10
DMCNET_1B
DMCNET Channel 1 bus line (-)
3, 11
DMCNET_2A
DMCNET Channel 2 bus line (+)
4, 12
-
Reserved
5, 13
-
Reserved
6, 14
DMCNET_2B
DMCNET Channel 2 bus line (-)
7, 15
-
Reserved
8, 16
-
Reserved
1
2
3
4
5
6
7
8
Connector CN6
(female)
9 10 11 12 13 14 15 16
The station numbers of DMCNET communication are the same as RS-232 and RS-485 communication and all are determined
by parameter P3-00. The transmission speed can reach up to 20Mbps. There are two communication ports for connector CN6,
one is for transmission and the other is for receiving, which is convenient for direct connection of more than one servo drive in
serial. Be sure to connect a 120ȍ termination resistor to the last connected servo drive.
澿 Connecting method of termination resistor: Two 120ʈ termination
resistors are required. One is connected between DMCNET_1A and
DMCNET_1B and the other is connected between DMCNET_2A and
DMCNET_2B.
Monitoring Signals
ASDA-A2 or ASDA-B2
OA, /OA,
OB, /OB
40
(WKHU&$75HPRWH0RGXOHV
Gateway Type E-bus Remote Power Coupler
R1-EC5500D0
W: 25 mm
/ 100 mm
E
D
C
B
A
NO.
Description
A.
DC power input
B.
EtherCAT output
C.
EtherCAT input
D.
6WDWXVLQGLFDWRU/('
E.
3RZHULQGLFDWRU/('
H: 74 mm
Technical Data
R1-EC5500D0
Task Within EtherCAT System
Connect EtherCAT Slave module with 100 baseTX EtherCAT
Data Transfer Medium
Ethernet/EtherCAT cable (min. CAT 5), shielded
Distance Between Stations
100 M (100BASE-TX) between two slaves
Protocol
EtherCAT
Data Transfer Rates
100 Mbaud
Bus Interface
5-[
Input Voltage
24 VDC
Input Current
50 mA + (E-bus total E-bus current)/4
Current Supply E-Bus
2A
Electrical Isolation
500 Vrms (Power contact / Supply voltage / Ethernet)
Vibration / Shock Resistance
conforms to EN 60068-2-6 / EN 60068-2-27 / 29
EMC Immunity
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, IEC 61000-4-3): 80 MHz ~ 1 GHz, 10 V/m
Operating Environment
Operating temperature: 0 ºC~ 50 ºCƞStorage temperature: -20 ºC~ 70 ºC
Weight
55 g
Protect. Class
IP 20
Mounting Type
Din rail
41
1-Channel Pulse Remote Module
R1-EC5621D0
/ 100 mm
W: 17.5 mm
NO.
Description
No.
Description
A.
IO Signal Port
D.
IO Signal Indicator
B.
IO Signal Port
E.
Status Indicator
C.
IO Signal Indicator
F.
Power Indicator
Input
Description
Input
Description
24V
24V Power
GND
([WHUQDO*URXQG
MEL
(QG/LPLW
QA+
Encoder A Phase (+)
PEL
(QG/LPLW
QA-
Encoder A Phase (-)
ORG
Home Signal
QB+
Encoder B Phase (+)
F
E
D
C
B
A
H: 74 mm
ALM
Servo Alarm
QB-
Encoder B Phase (-)
SON
Servo On
PA+
Pulse Signal (+)
CLR
Reset Servo Alarm
PA-
Pulse Signal (-)
QZ+
Encoder Z Phase (+)
PB+
Dir. Signal (+)
QZ-
Encoder Z Phase (+)
PB-
Dir. Signal (-)
Technical Data
R1-EC5621D0
Number of Outputs
1 channelƋPA+, PA-, PB+, PB-ƌ
Number of Inputs
1 channel (QA+, QA-, QB+, QB-. QZ+, QZ-)
Power Supply
Supplied by E-bus
Signal Voltage
56/HYHO
0D[2XWSXW&XUUHQW
56VSHFL¿FDWLRQ
Base Frequency
1Hz ~ 4MHz
Numbers Of 24 V Input
0(/3(/25*$/0
Numbers Of 24 V Output
&/5621
7ULJJHU9ROWDJH2Q!2II
Ɵ 8 VDC
7ULJJHU9ROWDJH2II!2Q
ơ 16.5 VDC
0D[LPXP&XUUHQWRI(DFK2XWSXW3RUW
30 mA
Current Consumption E-Bus
150 mA
Electrical Isolation
9UPV(EXV¿HOGSRWHQWLDO
Bit Width in The Process Image
E\WHLQRXW[E\WHGDWD[E\WHFRQWUROVWDWXV
Vibration / Shock Resistance
EMC Immunity
conforms to EN 60068-2-6 / EN 60068-2-27 / 29
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, IEC 61000-4-3: 8 MHz ~ 1 GHz, 10 V/m
Operating Environment
Operating temperature: 0 ºC~ 50 ºCƞStorage temperature: -20 ºC~ 70 ºC
Weight
$SSUR[J
Protect. Class
IP 20
Mounting Type
Din rail
42
(WKHU&$75HPRWH0RGXOHV
16 Digital Input Remote Module
R1-EC6002 / R1-EC6022D0
/ 100 mm
W: 17.5 mm
F
E
D
C
B
A
H: 74 mm
Technical Data
NO
Description
NO.
Description
A.
Port 1terminals
D.
Port 1 IO Signal
X15~X08 (From left)
B.
Port 0 terminals
E.
6WDWXVLQGLFDWRU/('
C.
Port 0 IO Signal
X07~X00 (From left )
F.
3RZHULQGLFDWRU/('
Input
Description
Input
Description
CM0
Port 0 COM
CM1
Port1 COM
X00
Input 0
X08
Input 8
X01
Input 1
X09
Input 9
X02
Input 2
X10
Input 10
X03
Input 3
X11
Input 11
X04
Input 4
X12
Input 12
X05
Input 5
X13
Input 13
X06
Input 6
X14
Input 14
X07
Input 7
X15
Input 15
R1-EC6002D0
R1-EC6022D0
Connection Technology
single-ended
Number of Inputs
16
Nominal Voltage
24 VDC ›10%
Signal Type
SINK / SOURCE
7ULJJHU9ROWDJH2Q!2II
< 8 VDC
7ULJJHU9ROWDJH2II!2Q
!9DC
Input Filter
100ʛs
2ms
Input Current
3 mA at each port
Current Consumption E-Bus
110 mA
Electrical Isolation
9UPV(EXV¿HOGSRWHQWLDO
Bit Width in The Process Image
16 inputs
Vibration / Shock Resistance
Conforms to EN 60068-2-6 / EN 60068-2-27 / 29
EMC Immunity
ESD (IEC 61131-2, IEC 61000-4-2) : 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O : 1 KV
RS (IEC 61131-2, IEC 61000-4-3) : 80 MHz ~ 1 GHz, 10 V/m
Operating Environment
Operating temperature: 0 ºC~ 50 ºCƞStorage temperature: -20 ºC~ 70 ºC
Weight
55 g
Protect. Class
IP 20
Mounting Type
Din rail
43
16 Digital Output Remote Module
R1-EC7062D0
/ 100 mm
W: 17.5 mm
F
E
D
C
NO.
NO.
Description
Port 1terminals
D.
Port 1 IO Signal
Y15~Y08(From left)
B.
Port 0 terminals
E.
6WDWXVLQGLFDWRU/('
C.
Port 0 IO Signal
Y07~Y00 (From left )
F.
3RZHULQGLFDWRU/('
Output
Description
Output
Description
GND
GND
GND
GND
Y00
Output 0
Y08
Output 8
Y01
Output 1
Y09
Output 9
Y02
Output 2
Y10
Output 10
Y03
Output3
Y11
Output 11
Y04
Output 4
Y12
Output 12
Y05
Output 5
Y13
Output 13
Y06
Output 6
Y14
Output 14
Y07
Output 7
Y15
Output 15
A.
Description
B
A
H: 74 mm
Technical Data
R1-EC7062D0
Connection Technology
MOSFET
Number of Inputs
16
Nominal Voltage
24 VDC ›10%
Signal Type
SINK
/RDG7\SH
ohmic, inductive, lamp load
Input Current
$0D[DWHDFKSRUW
Current Consumption E-Bus
120 mA
Response Time / Frequency
1kHZ
7ULJJHU7LPH2Q!2II
45us
7ULJJHU7LPH2II!2Q
60us
Electrical Isolation
9UPV(EXV¿HOGSRWHQWLDO
Bit Width In The Process Image
16 outputs
Vibration / Shock Resistance
conforms to EN 60068-2-6 / EN 60068-2-27 / 29
EMC Immunity
ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1KV
RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1GHz, 10V/m
Operating Environment
Operating temperature: 0 ºC~ 50 ºCƞStorage temperature : -20 ºC~ 70 ºC
Weight
$SSUR[J
Protect. Class
IP 20
Mounting Type
Din rail
44
(WKHU&$75HPRWH0RGXOHV
4-Channel Analog Input Remote Module
R1-EC8124D0
/ 100 mm
W: 17.5 mm
F
E
D
C
B
A
H: 74 mm
NO.
Description
NO.
Description
A.
CH3/CH4 Signal port
D.
CH3/CH4 Signal Indicator
B.
CH1/CH2 Signal port
E.
Status Indicator
C.
CH1/CH2 Signal Indicator
F.
Power Indicator
Input
Description
Input
Description
GND
Analog Ground
GND
Analog Ground
AI0
CH1 Voltage /Current Input
AI2
CH3 Voltage / Current Input
GND
Analog Ground
GND
Analog Ground
AG0
CH1 Current COM*
AG2
CH3 Current COM*
GND
Analog Ground
GND
Analog Ground
AI1
CH2 Voltage / Current Input
AI3
CH4 Voltage / Current Input
GND
Analog Ground
GND
Analog Ground
AG1
CH2 Current COM*
AG3
CH4 Current COM*
GND
Analog Ground
GND
Analog Ground
* In current mode: please connect current COM to GND ; In voltage mode: please disconnect this COM
Technical data
R1-EC8124D0
Number of Inputs
4 (single-ended)
Power Supply
via the E-bus
Signal Voltage
›10 V / ›5 V
Internal Resistance
!0ʈ
,QSXW)LOWHU/LPLW)UHTXHQF\
1 KHz ~ 10 KHz
Resolution
16 bit
Over Sampling Rate
0~64
Conversion Time
2 us ~ 3315 us (depends on Over Sampling Rate)
Measuring Error
< ›0.2 % (relative to full scale value)
Electrical Isolation
1000 Vrms (E-bus/signal voltage)
Current Consumption E-Bus
300 mA
Bit Width in The Process Image
inputƝ[E\WHGDWD[E\WHFRQWUROVWDWXV
Vibration / Shock Resistance
Operating Environment
conforms to 60068-2-6 / EN 60068-2-27 / 29
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, IEC 61000-4-3): 8 MHz ~ 1 GHz, 10 V/m
Operating temperature: 0 ºC~ 50 ºCƞstorage temperature: -20 ºC~ 70 ºC
Weight
$SSUR[J
Protect. Class / Installation Pos.
IP 20 / variable
Mounting Type
Din rail
EMC Immunity
45
4-Channel Analog Output Remote Module
R1-EC9144D0
/ 100 mm
W: 17.5 mm
F
E
D
C
B
A
H: 74 mm
NO.
Description
NO.
Description
A.
CH3/CH4 Signal port
D.
CH3/CH4Signal Indicator
B.
CH1/CH2 Signal port
E.
Status Indicator
C.
CH1/CH2 Signal Indicator
F.
Power Indicator
Output
Description
Output
Description
GND
Analog Ground
GND
Analog Ground
VO0
CH1 Voltage Output
VO2
CH3 Voltage Output
GND
Analog Ground
GND
Analog Ground
IO0
CH1 Current Output
IO2
CH3 Current Output
GND
Analog Ground
GND
Analog Ground
VO1
CH2 Voltage Output
VO3
CH4 Voltage Output
GND
Analog Ground
GND
Analog Ground
IO1
CH2 Current Output
IO3
CH4 Current Output
GND
Analog Ground
GND
Analog Ground
Technical Data
R1-EC9144D0
Number of Inputs
4 (single-ended)
Power Supply
via the E-bus
Signal Voltage Output
›10 V / ›5 V / 0 ~ 5 V / 0 ~ 10 V
Current Output
0 ~ 20 mA / 4 ~ 24 mA / 0 ~ 24 mA
/RDG
!.ʈ (short-circuit-proof)
Resolution
16 bit
Conversion Time
80 us
Measuring Error
< ›0.2 %( relative to full scale value)
Electrical Isolation
1000 Vrms (E-bus/signal voltage)
Current Consumption E-Bus
550 mA
Bit Width in The Process Image
2XWSXW[E\WH[ELWDQDORJRXWSXW
Vibration/Shock Resistance
Operating Environment
conforms to EN 60068-2-6 / EN 60068-2-27 / 29
ESD (IEC 61131-2, IEC 61000-4-2): 8 KV Air Discharge
()7,(&,(&3RZHU/LQH.9
Communication I/O: 1 KV
RS (IEC 61131-2, EC 61000-4-3): 8 MHz ~ 1 GHz, 10 V/m
Operating temperature 0 ºC~ 50 ºC ; storage temperature -20 ºC~ 70 ºC
Weight
$SSUR[J
Protect. Class/Installation Pos.
IP 20 / variable
Mounting Type
Din rail
EMC Immunity
46
$6'$$((WKHU&$76HUYR'ULYH6SHFL¿FDWLRQV
220 V Series
Power
Supply
ASDA A2-E Series
Phase / Voltage
Permissible Voltage
Range
Position
Control Mode
(CSP)
Input Current (3PH) Unit: Arms
Input Current (1PH) Unit: Arms
Continuous Output Current Unit: Arms
Cooling Method
Encoder Resolution
(Servo Drive Resolution)
Control of Main Circuit
Tuning Modes
Dynamic Brake
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Feed Forward
Compensation
Speed Control Range*1
Speed Control Mode
(CSV)
100 W
01
200 W
02
400 W
750 W
1 kW
04
07
10
Three-phase / Single-phase 220 VAC
Three-phase / Single-phase 200 ~ 230 VAC , -15%~10%
0.39
0.69
0.9
1.11
1.86
1.92
3.22
1.55
2.6
Natural Air Circulation
Torque
Control
Mode (CST)
Digital
Inputs/Outputs
3.66
6.78
5.1
4.68
8.88
7.3
5.9
10.3
8.3
Fan Cooling
SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual
Built-in
([WHUQDODQDORJVLJQDO
/RZSDVVDQG3FXUYH¿OWHU
Electronic gear N/M multiple N: 1 ~ 32767, M: 1 : 32767 (1/50 < N/M < 25600)
([WHUQDODQDORJVLJQDO
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
1:5000
1:3000
Command Source
External Analog Signal
([WHUQDODQDORJVLJQDO
Smoothing Strategy
Torque Limit Operation
Frequency Response
Characteristic
/RZSDVVDQG6FXUYH¿OWHU
Set by parameters or via analog input
Speed Accuracy
(at rated rotation speed)*2
0D[LPXPN+]
RUOHVVDWWRORDGÀXFWXDWLRQ
RUOHVVDWž&WRž&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
0.01% or less at ›SRZHUÀXFWXDWLRQ
([WHUQDODQDORJVLJQDO
Command Source
/RZSDVV¿OWHU
Smoothing Strategy
Speed Limit Operation
Inputs
Outputs
Protective Functions
Communication Interface
Installation Site
Altitude
Atmospheric Pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
2 kW
3 kW
20
30
Three-phase 220 VAC
Three-phase
200 ~ 230 VAC ,
-15% ~ 10%
8.76
9.83
13.4
19.4
Incremental type: 20-bit (1280000 p/rev)ƞAbsolute type: 17-bit
Feed Forward
Compensation
Environment
1.5 kW
15
Via analog input
6HUYRRQ5HVHW*DLQVZLWFKLQJ3XOVHFOHDU=HURVSHHG&/$03&RPPDQGLQSXWUHYHUVHFRQWURO&RPPDQGWULJJHUHG
Speed/Torque limit enabled, Position command selection, Motor stop, Speed position selection, Position / Speed mode
switching, Speed / Torque mode switching, Torque / Position mode switching, PT / PR command switching, Emergency
stop, Forward / Reverse inhibit limit, Reference ĄHomeą sensor, Forward / Reverse operation torque limit, Move to
ĄHomeą, Electronic Cam (E-Cam), Forward / Reverse JOG input, Event trigger PR command, Electronic gear ratio
(Numerator) selection and Pulse inhibit input
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHUDQG=2SHQ&ROOHFWRU
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,
3RVLWLRQFRPPDQGRYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQGFRPSOHWHG&DSWXUHRSHUDWLRQ
completed output., Motion control completed output., Master position of E-Cam (Electronic Cam)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse
FRQWUROFRPPDQG([FHVVLYHGHYLDWLRQ(QFRGHUHUURU$GMXVWPHQWHUURU(PHUJHQF\VWRSDFWLYDWHG5HYHUVH)RUZDUG
OLPLWVZLWFKHUURU3RVLWLRQH[FHVVLYHGHYLDWLRQRIIXOOFORVHFRQWUROORRS6HULDOFRPPXQLFDWLRQHUURU,QSXWSRZHUSKDVH
loss, Serial communication time out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
USB / EtherCAT
Indoor location (free from direct sunlight), no corrosive liquid and gas
NHHSIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Altitude 1000 m or lower above sea level
86 kPa ~ 106 kPa
0 ºC ~ 55 ºC (If operating temperature is above 45 ºC, forced cooling will be required)
-20 ºC ~ 65 ºC (-4 ºF to 149 ºF)
0 ~ 90% RH (non-condensing)
9.80665 m/s2 (1 G) less than 20 Hz, 5.88 m/s2 (0.6 G) 20 to 50 Hz
IP20
TN System*3
,(&(18/&&WLFN
&HUWL¿FDWLRQV
Footnote:
5DWHGURWDWLRQVSHHG:KHQIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
:KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG±)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
71V\VWHP$SRZHUGLVWULEXWLRQV\VWHPKDYLQJRQHSRLQWGLUHFWO\HDUWKHGWKHH[SRsed conductive parts of the installation being connected to that point
by a protective earth conductor.
47
$6'$$((WKHU&$76HUYR'ULYH6SHFL¿FDWLRQV
400 V Series
ASDA A2-E Series
750 W
07
Position
Control Mode
(CSP)
Speed Control Mode
(CSV)
Torque Control
Mode
(CST)
Digital
Inputs/Outputs
1.5 kW
15
0.43 A
10.32 W
1.40
2.35
3.02
2.0
3.35
3.52
5.02
Communication Interface
Installation Site
Altitude
Atmospheric Pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
4.5 kW
45
5.5 kW
55
7.5 kW
75
6.66
11.9
1.66 A
39.85 W
11.9
14.1
17.27
20
22.37
30
Incremental type: 20-bit (1280000 p/rev) ; Absolute type: 17-bit
SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual
Built-in
([WHUQDODQDORJVLJQDO
/RZSDVVDQG3FXUYH¿OWHU
Electronic gear N/M multiple N: 1 ~ 32767, M: 1 : 32767 (1/50 < N/M < 25600)
([WHUQDODQDORJVLJQDO
([WHUQDODQDORJVLJQDO,QWHUQDOSDUDPHWHUV
1:5000
1:3000
([WHUQDODQDORJVLJQDO
/RZSDVVDQG6FXUYH¿OWHU
Set by parameters or via analog input
0D[LPXPN+]
RUOHVVDWWRORDGÀXFWXDWLRQ
RUOHVVDWž&WRž&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
0.01% or less at ›SRZHUÀXFWXDWLRQ
([WHUQDODQDORJVLJQDO
/RZSDVV¿OWHU
Speed Limit Operation
Outputs
3 kW
30
Fan Cooling
Smoothing Strategy
Inputs
2 kW
20
1.18 A
28.2 W
Three-phase, 380~480 VAC, ›10%
4.24
5.65
8.01
Command Source
Protective Functions
Environment
1 kW
10
24 VDC, ›10%
Power
Supply
Input Voltage
Input Current
Input Power
Main Circuit Power
Input Current Unit: Arms
Continuous Output Current Unit:
Arms
Cooling Method
Encoder Resolution
(Servo Drive Resolution)
Control of Main Circuit
Tuning Modes
Dynamic Brake
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Feed Forward
Compensation
Speed Control Range*1
Command Source External
Analog Signal
Smoothing Strategy
Torque Limit Operation
Frequency Response
Characteristic
Speed Accuracy
(at rated rotation speed)*2
Feed Forward
Compensation
400 W
04
Via analog input
6HUYRRQ5HVHW*DLQVZLWFKLQJ3XOVHFOHDU=HURVSHHG&/$03&RPPDQGLQSXWUHYHUVHFRQWURO&RPPDQG
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 ĄHomeą sensor, Forward / Reverse operation
torque limit, Move to ĄHomeą, Electronic Cam (E-Cam), Forward / Reverse JOG input, Event trigger PR command,
Electronic gear ratio (Numerator) selection and Pulse inhibit input
(QFRGHUVLJQDORXWSXW$%=/LQH'ULYHUDQG=2SHQ&ROOHFWRU
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,
3RVLWLRQFRPPDQGRYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQGFRPSOHWHG&DSWXUH
operation completed output., Motion control completed output., Master position of E-Cam (Electronic Cam)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal
SXOVHFRQWUROFRPPDQG([FHVVLYHGHYLDWLRQ(QFRGHUHUURU$GMXVWPHQWHUURU(PHUJHQF\VWRSDFWLYDWHG5HYHUVH
)RUZDUGOLPLWVZLWFKHUURU3RVLWLRQH[FHVVLYHGHYLDWLRQRIIXOOFORVHFRQWUROORRS6HULDOFRPPXQLFDWLRQHUURU,QSXW
power phase loss, Serial communication time out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
USB / EtherCAT
Indoor location (free from direct sunlight), no corrosive liquid and gas
NHHSIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Altitude 1000 m or lower above sea level
86 kPa ~ 106 kPa
0 ºC ~ 55 ºC (If operating temperature is above 45 ºC, forced cooling will be required)
-20 ºC ~ 65 ºC (-4 ºF to 149 ºF)
0 ~ 90% RH (non-condensing)
9.80665 m/s2 (1 G) less than 20 Hz, 5.88 m/s2 (0.6 G) 20 to 50 Hz
IP20
TN System*3
,(&(18/&&WLFN
&HUWL¿FDWLRQV
Footnote:
5DWHGURWDWLRQVSHHG:KHQIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
:KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG±)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
71V\VWHP$SRZHUGLVWULEXWLRQV\VWHPKDYLQJRQHSRLQWGLUHFWO\HDUWKHGWKHH[SRVHGFRQGXFWLYHSDUWVRIWKHLQVWDOODWLRQEHLQJFRQQHFWHGWRWKDWSRLQWE\DSURWHFWLYHHDUWKFRQGXFWRU
48
Features
ɣ7RXFKSUREHIXQFWLRQFDQEHHQDEOHGZLWKWZRGHGLFDWHG'LJLWDO,QSXW',RQ&1RUWKHH[WHUQDO
encoder.
ɣ,QWHJUDWHG6DIH7RUTXH2II672VDIHW\IXQFWLRQDFFRUGLQJWRWKHVWDQGDUGVRI,(&6,/
,(&6,/&/,62&DW3/ G
ɣ Wide power range coverage in both 220V and 400V
ɣ Supports full-closed loop control
ɣ Supports absolute type and incremental type ECMA Series motors
$SSOLFDWLRQV
EtherCAT Controller
Delta Motion
Control
Control Cards
Delta PAC
Controller
Controlle
er
&RPPXQLFDWLRQ6SHFL¿FDWLRQV
Physical Layer
IEEE802.3u (100 BASE-TX)
Data Link Layer
$35' )35' %5' /5'$3:5 )3:5 %:5 /:5$50: )50:$35: )35:
%5:/5:
'HYLFH3UR¿OH&L$
Homing Mode, Profile Position Mode, Profile Velocity Mode, Profile Torque Mode,
Interpolated Position Mode, Cyclic Syn. Position Mode, Cyclic Syn. Velocity Mode, Cyclic
6\Q7RUTXH0RGH7RXFK3UREH)XQFWLRQ7RUTXH/LPLW)XQFWLRQ
Process Data Size
7[2EMHFWE\WH0D[
5[2EMHFWE\WH0D['\QDPLF0DSSLQJVXSSRUWHG
Bus Clock
DC cycle with min. 250 us*
LED Indicator
(WKHU&$7/LQN$FWLYLW\,QGLFDWRU/$[
(WKHU&$7581,QGLFDWRU581[
(WKHU&$7(5525,QGLFDWRU(55[
* This function will be available in a new version soon to come.
49
Part Names and Functions
Servo Status Display /
Operation Panel /
&KDUJH/('
([WHUQDO(QFRGHU
CN1 26 Pin I/O
([WHQVLRQ',3RUW
Motor Encoder
(WKHU&$76WDWXV/('
EtherCAT Port
Safe Torque Off
(STO) I/O
USB Port
Ordering Information
ASD - A2 - 04
21 - E
EtherCAT model
Input Voltage and Phase
21: 220 V 1-phase / 3-phase
23: 220 V 3-phase
43: 400 V 3-phase
Series: A2
Product Name:
AC Servo Drive
Rated Output Power
10: 1 kW
01: 100 W
15: 1.5 kW
02: 200 W
20: 2 kW
04: 400 W
07: 750 W
30: 3 kW
45: 4.5 kW
55: 5.5 kW
$FFHVVRULHVIRU$6'$$(
Part Number
ASD-CNSC0026
Part Number
ASD-CNFS0808
Description
CN1 connector
Description
Pack of connectors used for STO
wiring, 8 pcs of connectors in one pack
50
Ordering Information
Programmable Automation Controllers - Motion Control Host PAC
Model Name
MH1-A12D-A03DG
MH1-A12D-A03DM
MH1-C50D-A03DG
MH1-C50D-A03DM
CPU Type
Storage
Slot Interface
Motion Protocol
Intel Atom E3845
Quad Core 1.91 GHz
32 G Cfast
2 PCI Slots
DMCNET
Intel Core i5-3610ME
Dual Core 2.7 GHz
32 G CFast
ˠ
ˠ
2 PCI Slots
MH1-C70D-A03DG
IMP
DMCNET
-
Intel Core i7-3612QE
Quad Core 2.1 GHz
32 G CFast
MH1-A12N-A03DF
Intel Atom E3845
Quad Core 1.91 GHz
32 G CFast
2 PCI Slots
EtherCAT
-
MH1-C50N-C03DF
Intel Core i5-3610ME
Dual Core 2.7 GHz
32 G CFast
3&,H[3&,H
EtherCAT
-
MH1-C70N-C03DF
Intel Core i7-3612QE
Quad Core 2.1 GHz
32 G CFast
3&,H[3&,H
EtherCAT
-
MH1-C70D-A03DM
ˠ
Programmable Automation Controllers - Motion Control Panel PC
MP1-A10D-1012DG
,QWHO$WRP&387)7/&'FRORUV'0&1(70RWLRQ3URWRFRO
MP1-A10D-1012DM
,QWHO$WRP&387)7/&'FRORUV'0&1(70RWLRQ3URWRFRO
Supports IMP
Motion Control Cards
PCI-DMC-A02
'0&1(76WDQGDUG7\SH0RWLRQ&RQWURO&DUGZLWK/RFDO,2','2
PCI-DMC-B01
DMCNET Advanced Type Motion Control Card with 2 Groups of Pulse Compare
PCI-L221-P1D0
(WKHU&$76WDQGDUG7\SH0RWLRQ&RQWURO&DUGZLWK/RFDO,2','2
DMCNET Communication Cables
NC-CAB-DMC003
0.3 m Communication Cable between DMCNET Motion Control Card and Servo Drive
NC-CAB-DMC015
1.5 m Communication Cable between DMCNET Motion Control Card and Servo Drive
NC-CAB-DMC030
3.0 m Communication Cable between DMCNET Motion Control Card and Servo Drive
NC-CAB-DMC050
5.0 m Communication Cable between DMCNET Motion Control Card and Servo Drive
NC-CAB-DMC100
10.0 m Communication Cable between DMCNET Motion Control Card and Servo Drive
ASD-TR-DM0008
Terminal Resistor for DMCNET Communication Bus
51
DMCNET Remote Modules
ASD-DMC-RM32MN
32 Digital Input Remote Module (NPN / PNP)
ASD-DMC-RM64MN
64 Digital Input Remote Module (NPN / PNP) plus MPG Module
ASD-DMC-RM32NT
32 Digital Output Remote Module
ASD-DMC-RM64NT
64 Digital Output Remote Module
ASD-DMC-RM32PT
32 Digital I/O Remote Module (16 DI (NPN / PNP) & 16 DO (Transistor Output))
ASD-DMC-RM04PI
4-Channel Pulse Remote Module (4 Channels of 200 kHz Pulse Outputs and Inputs)
ASD-DMC-RM04AD
4-Channel Analog Input Module
ASD-DMC-RM04DA
4-Channel Analog Output Module
HMC-RIO3232RT5
Digital I/O Remote Module (32 DI (NPN / PNP), 16 DO (Relay Output) & 16 DO
(Transistor Output))
DMCNET Gateway Type Remote Modules
ASD-DMC-GA01
DMCNET Gateway Type Remote Power Coupler
ASD-DMC-GE01PH
DMCNET Gateway Type Digital I/O Remote Module
(1-Channel of 4 M High-speed Pulse Output & Input Interface)
EtherCAT Remote Modules
R1-EC5500D0
Gateway Type E-bus Remote Power Coupler
R1-EC5621D0
1-Channel Pulse Remote Module
(1-Channel of 4 M High-speed Pulse Output & Input Interface)
R1-EC6002D0
16 Digital Input Remote Module
(16 Transistor Inputs (NPN / PNP) & 0.1ms Response Time)
R1-EC6022D0
16 Digital Input Remote Module
(16 Transistor Inputs (NPN / PNP) & 2ms Response Time)
R1-EC7062D0
16 Digital Output Remote Module (16 Transistor Outputs (NPN))
R1-EC8124D0
4-Channel Analog Input Remote Module
R1-EC9144D0
4-Channel Analog Output Remote Module
IPC Motion Platform (IMP)
IMPBSC-MCD01
Standard Version of IPC Motion Platform (IMP)
52
Ordering Information
ASDA-A2-F DMCNET Servo Drives
ASD-A2-0121-F
A2 220 V 1-Phase / 3-Phase 100 W DMCNET Servo Drive
ASD-A2-0221-F
A2 220 V 1-Phase / 3-Phase 200 W DMCNET Servo Drive
ASD-A2-0421-F
A2 220 V 1-Phase / 3-Phase 400 W DMCNET Servo Drive
ASD-A2-0721-F
A2 220 V 1-Phase / 3-Phase 750 W DMCNET Servo Drive
ASD-A2-1021-F
A2 220 V 1-Phase / 3-Phase 1.0 kW DMCNET Servo Drive
ASD-A2-1521-F
A2 220 V 1-Phase / 3-Phase 1.5 kW DMCNET Servo Drive
ASD-A2-2023-F
A2 220 V 3-Phase 2.0 kW DMCNET Servo Drive
ASD-A2-3023-F
A2 220 V 3-Phase 3.0 kW DMCNET Servo Drive
ASD-A2-4523-F
A2 220 V 3-Phase 4.5 kW DMCNET Servo Drive
ASD-A2-5523-F
A2 220 V 3-Phase 5.5 kW DMCNET Servo Drive
ASD-A2-7523-F
A2 220 V 3-Phase 7.5 kW DMCNET Servo Drive
ASDA-B2-F DMCNET Servo Drives
ASD-B2-0121-F
B2 220 V 1-Phase / 3-Phase 100 W DMCNET Servo Drive
ASD-B2-0221-F
B2 220 V 1-Phase / 3-Phase 200 W DMCNET Servo Drive
ASD-B2-0421-F
B2 220 V 1-Phase / 3-Phase 400 W DMCNET Servo Drive
ASD-B2-0721-F
B2 220 V 1-Phase / 3-Phase 750 W DMCNET Servo Drive
ASD-B2-1021-F
B2 220 V 1-Phase / 3-Phase 1.0 kW DMCNET Servo Drive
ASD-B2-1521-F
B2 220 V 1-Phase / 3-Phase 1.5 kW DMCNET Servo Drive
ASD-B2-2023-F
B2 220 V 3-Phase 2.0 kW DMCNET Servo Drive
ASD-B2-3023-F
B2 220 V 3-Phase 3.0 kW DMCNET Servo Drive
ASDA-A2R-F DMCNET Servo Drives
ASD-A2R-0121-F
A2R 220 V 1-Phase / 3-Phase 100 W DMCNET Servo Drive
ASD-A2R-0221-F
A2R 220 V 1-Phase / 3-Phase 200 W DMCNET Servo Drive
ASD-A2R-0421-F
A2R 220 V 1-Phase / 3-Phase 400 W DMCNET Servo Drive
ASD-A2R-0721-F
A2R 220 V 1-Phase / 3-Phase 750 W DMCNET Servo Drive
ASDA-M DMCNET Servo Drives
ASD-M-0721-F
M 220 V 1-Phase / 3-Phase 750 W DMCNET Servo Drive
ASD-M-1521-F
M 220 V 1-Phase / 3-Phase 1.2 kW DMCNET Servo Drive
53
ASDA-A2-E EtherCAT Servo Drives - 220 V Series
ASD-A2-0121-E
A2 220 V 1-Phase / 3-Phase 100 W EtherCAT Servo Drive
ASD-A2-0221-E
A2 220 V 1-Phase / 3-Phase 200 W EtherCAT Servo Drive
ASD-A2-0421-E
A2 220 V 1-Phase / 3-Phase 400 W EtherCAT Servo Drive
ASD-A2-0721-E
A2 220 V 1-Phase / 3-Phase 750 W EtherCAT Servo Drive
ASD-A2-1021-E
A2 220 V 1-Phase / 3-Phase 1.0 kW EtherCAT Servo Drive
ASD-A2-1521-E
A2 220 V 1-Phase / 3-Phase 1.5 kW EtherCAT Servo Drive
ASD-A2-2023-E
A2 220 V 3-Phase 2.0 kW EtherCAT Servo Drive
ASD-A2-3023-E
A2 220 V 3-Phase 3.0 kW EtherCAT Servo Drive
ASDA-A2-E EtherCAT Servo Drives - 400 V Series
ASD-A2-0443-E
A2 400 V 3-Phase 400 W EtherCAT Servo Drive
ASD-A2-0743-E
A2 400 V 3-Phase 750 W EtherCAT Servo Drive
ASD-A2-1043-E
A2 400 V 3-Phase 1.0 kW EtherCAT Servo Drive
ASD-A2-1543-E
A2 400 V 3-Phase 1.5 kW EtherCAT Servo Drive
ASD-A2-2043-E
A2 400 V 3-Phase 2.0 kW EtherCAT Servo Drive
ASD-A2-3043-E
A2 400 V 3-Phase 3.0 kW EtherCAT Servo Drive
ASD-A2-4543-E
A2 400 V 3-Phase 4.5 kW EtherCAT Servo Drive
ASD-A2-5543-E
A2 400 V 3-Phase 5.5 kW EtherCAT Servo Drive
ASD-A2-7543-E
A2 400 V 3-Phase 7.5 kW EtherCAT Servo Drive
ECML-S Linear Shaft Motor - Coil Assembly Model (Max. Thrust: 87.12 N ~ 736 N)
ECML-S16
A2DNS
Shaft Diameter Ø16 Coil Assembly Model
ECML-S20
A2DNS
Shaft Diameter Ø20 Coil Assembly Model
ECML-S25
A2DNS
Shaft Diameter Ø25 Coil Assembly Model
ECML-S32
A2DNS
Shaft Diameter Ø25 Coil Assembly Model
ECML-SM Linear Shaft Motor - Magnetic Way Model (Total Length: 250 mm ~ 2310 mm)
ECML-SM16
Shaft Diameter Ø16 Magnetic Way Model
ECML-SM20
Shaft Diameter Ø20 Magnetic Way Model
ECML-SM25
Shaft Diameter Ø25 Magnetic Way Model
ECML-SM32
Shaft Diameter Ø32 Magnetic Way Model
54
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
18 Xinglong Road, Taoyuan District,
Taoyuan City 33068, Taiwan (R.O.C.)
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, P.R.C. 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. 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 (The 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-IPC_PAC_C_EN_20160318