Delta Electronics, Inc., a leading manufacturer of industrial automation products, is pleased to
announce the launch of its new high-performance ASDA-A2 series servo motors and servo drives with
motion control.
The current trend for motion control has the control command source close to the drive. In response,
Delta has developed the new ASDA-A2 series that offers excellent motion control so that the external
controller is almost eliminated. ASDA-A2 series features a built-in electronic cam (E-CAM) function which
provides an excellent solution for flying shear, rotary cut and synchronized motion applications. The all
new position register control PR mode is a unique and significant function that provides a variety of control
modes to enhance system performance.
The ASDA-A2 series also supports various industrial communications protocols, such as CANopen,
DMCNET, EtherCAT which offers higher performance and high speed communications and enable the
drive to integrate with other part of the automation more efficiently and effectively. The full-closed loop
control, auto notch filter, vibration suppression and gantry control functions help to perform complex
motions that require high precision and smooth operation. The 20-bit superior resolution encoder which
is essential for accurate positioning applications is equipped as standard. In addition, the outstanding
Capture and Compare functions for high-speed pulses offer the best support for stepless positioning. Other
additional functionality, such as up to 1kHz frequency response, innovative editing software, high-speed
PC monitoring (similar to a digital oscilloscope), and more, all drastically maximize the performance of the
ASDA-A2 series.
Delta's new ASDA-A2 series is the ultimate servo system providing a total solution
for a wide range of machine tools and industrial applications
1
Table of Contents
ASDA-A2 Series Features
3
Product Line-up
9
Model Explanation
13
Servo Motor Features
14
S e r v o M o to r S p e c i c a t i o n s
15
Servo Motor Dimensions
21
Part Names and Functions
29
Wiring
31
ASDA-Soft Conguration Software
39
Optional Accessories
41
Servo Drive Specications
43
Servo Drive Dimensions
45
Optional Cables and Connectors
51
Servo Drive, Servo Motor and
61
Accessories Combinations
Safety Information
69
Regenerative Resistor Specications
70
2
ASDA-A2 Series Features
DT3
High Positioning Accuracy
►
ECMA series servo motors feature incremental encoders with 20-bit resolution which can eliminate
unstable commands at low speed, smooth motor operation and enhance the accuracy of positioning.
►
Absolute encoder supported. 17-bit motor position will not get lost when power is cut off.
20-bit, incremental encoder /
17-bit, absolute encoder
High Responsiveness
▲
►
Up to 1kHz frequency response.
►
Settling time below 1ms.
►
7ms acceleration time for speeds from -3000 r/min to 3000 r/min with an empty load!
(Note: The test record of a 400W motor with 60mm frame size)
6
5
4
3
2
1
Pulse command
fre quency
0
Postion error & Pulse command freq
-1
0
10
20
Time(ms)
Position error
1ms
30
40
50
60
Speed () & Torque (N-m)r/min
5000
4000
3000
2000
1000
-1000
-2000
-3000
-4000
-5000
0
0
70
10
20
30
Time(ms)
40
50
6070
3
Excellent Suppression Functions
torque (Amp)
Speed (rpm)
t (sec)
t (sec)
►
Vibration Suppression (Low Frequency)
Two vibration suppression filters are provided for long arm system to minimize the vibration at
machine edges effectively.
►
Without Suppression
Function When Settling
Resonance Suppression
(High Frequency)
Two auto notch filters and
one manual notch filter
are provided to suppress
mechanical resonance
efficiently.
With Suppression
Function When Settling
Notch Filter Starts
30
20
10
0
-10
-20
-30
01234567
After SuppressionBefore Suppression
2000
1500
1000
500
-500
-1000
-1500
-2000
0
0
12
3
45
67
4
ASDA-A2 Series Features
Full-Closed Loop Control Function*1
►
Reduces the effects of backlash and flexibility from the machine and
ensures the accuracy of positioning.
主編碼器
Motor Encoder
光學尺
Linear Scale
Note:
*1. PT and DMCNET mode only.
CN5
CN2
Electronic CAM (E-CAM) Function
►
720 points max. for E-CAM outline.
►
Smooth interpolation between points can be completed automatically to yield a flexible programming.
►
ASDA-Soft configuration software supported.
►
Easy to use for flying shear, rotary cut, and other cam applications.
ASDA-A2 E-CAM功能於
E-CAM function of ASDA-A2 series
包裝機上的應用
for packaging machines and
packaging lines
5
Versatile PR Mode
►
ASDA-Soft configuration software supported.
►
New sub-modes supported, not traditional point-to-point control.
►
64 procedures can be applied.
►
Motion profile can be changed instantaneously.
►
35 Homing modes / Jump mode / Write parameter mode /
Constant speed mode / Position control mode supported.
Speed
Sequential Command
P_Command 1
P_Command 2
Delay 1
A command is executed only when the
previous command is completed.
Speed
Insertion Command
P_Command 2
Time
Speed
Overlap Command
P_Command 2 P_Command 1
Time
The second command is executed after the
delay time or during the deceleration period.
P_Command 1
External command triggered
Insertion changes the command executed at the
moment it is inserted.
Time
6
ASDA-A2 Series Features
Capture and Compare Functions
Capture - Position Latch Function
►
Latches the coordinate value on the
reference axis.
►
Response time is less than 5us.
►
It can be used to do mark tracing.
►
Maximum 800 records
Data Array
38 3838
When DI7 is triggered, the latched position is
recorded in Data Array.
Linear
Encoder
DI 7
Pulse
Train
383 838
Motor Encoder
Compare - Position Detection
Function
►
Detects the location on the
reference axis.
►
Response time is less than 5us.
►
It can be used for CCD camera
applications.
►
Maximum 800 records
Data Array
383838
When the record in Data Array is the same as the
detected position, DO4 will output.
Linear
Encoder
Posi tion
True
Position
383838
Pulse
Train
==
DO4
Motor Encoder
7
Supports High-Speed DMCNET, EtherCAT, CANopen Protocols for
Multi-Axis Synchronous Control
) at the ends of the servo drive model names are for optional configurations. For the actual model name, please refer to the model explanation of the servo drive.
) in the model names represent encoder type. =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit; ▲ =A: Absolute type
) in the model names represent shaft end/brake or the number of oil seal.
9
0.69 2.05
ASD-A2-0121-
Continuous Output
Current (Arms)
0.90 2.70
Max. Instantaneous
Current (A)
ASD-A2-0421-
ASD-A2-0721-
ASD-A2-1021-
2.90 8.70
3.90 12.10 ASD-A2-0721-5.10 15.30
ASD-A2-0421-
ASD-A2-0721-
ASD-A2-2023-
ASD-A2-3023-
ASD-A2-2023-
2.60 7.80
5.10 15.30
7.30 21.90
2.60 7.80
5.1015.30
13.40 40.20
19.40 58.20
13.40 40.20
ASD-A2-4523-
ASD-A2-5523-
2.60 7.80 ASD-A2-04212.60 7.80
32.50 70.7
40.00106
10
Product Line-up
NOTE
400V Series
Motor SeriesPhase
Low InertiaECMA-J 3000 r/min3-phase
Servo MotorsServo Drives
Rated Output
Power (W)
400ECMA-J
750ECMA-J0807S3.079.5
750ECMA-J0907S2.166.37ASD-A2-0743-3.079.21
1000ECMA-J0910S2.47.17ASD-A2-1043-3.529.86
1000ECMA-J1010S4.1512.46
2000ECMA-J1020S7.0921.28
3000ECMA-J133049.829.99ASD-A2-3043-11.933.32
750ECMA-K
1000ECMA-K1310S3.5210.56
Model NameRated current (Arms)Maximum current (A)Model Name
0604S1.624.85ASD-A2-0743-3.079.21
1305S1.75.2ASD-A2-0743-3.079.21
Medium InertiaECMA-K 2000 r/min3-phase
Medium-High InertiaECMA-L 1500 r/min 3-phase
1500ECMA-K1315S5.0215.06
2000ECMA-K1320S6.6619.98
2000ECMA-K1820S6.619.88
750ECMA-L
850ECMA-L1308S3.48.85ASD-A2-1043-3.529.86
1300ECMA-L1313S5.0215
3000 ECMA-L1830S11.5334.6
4500ECMA-L1845S20.852
5500ECMA-L1855322.3756
7500ECMA-L1875327.368.3
1305S2.16.1ASD-A2-0743-3.079.21
11000ECMA-L1221B327.268
15000ECMA-L1221F341.6100ASD-A2-1F43-38.6585.03
High InertiaECMA-M 3000 r/min3-phase900ECMA-M1309S4.413.1ASD-A2-1543-5.0210.04
The boxes (
1)
2) The boxes ( ) in the model names represent encoder type. =1: Incremental encoder, 20-bit ; =2: Incremental encoder, 17-bit; =A: Absolute type
The boxes (
3)
) at the ends of the servo drive model names are for optional configurations. For the actual model name, please refer to the model explanationof the servo drive.
) in the model names represent shaft end/brake or the number of oil seal.
Power rating (kW/s)(with brake)--25.621.353.822.148.429.337.930.48265.1
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant
(ms)(with brake)
Brake holding torque [Nt-m (min)]
Brake power consumption
(at 20˚C)[W]
--0.040.190.300.731.181.952.673.334.9514.0
--0.810.850.570.780.651.741.220.930.661.22
*2
--0.31.31.32.52.52.52.58810.0
--7.36.56.58.28.28.28.218.718.719.0
Brake release time [ms (Max)]--5101010101010101010
Brake pull-in time [ms (Max)]--25707070707070707070
Vibration grade (μm)15
Operating temperature (˚C)0ºC to 40ºC
Storage temperature (˚C)-10ºC to 80ºC
Operating humidity20 to 90%RH (non-condensing)
Storage humidity20 to 90%RH (non-condensing)
Vibration capacity2.5G
IP Rating
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to
the rotating shaft (an oil seal model is used))
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F40, F60, F80, F100, F130, F180, F220
*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.
15
Medium Series- 220V Series
13 E18
ECMA Series
0510 15 20203035
Rated output power (kW)0.51.01.52.02.03.03.5
Rated torque (N-m)
*1
2.394.777.169.559.5514.3216.71
Maximum torque (N-m)7.1614.321.4828.6528.6542.9750.13
Rated speed (r/min)2000
Maximum speed (r/min)3000
Rated current (A)2.95.68.311.0111.2216.119.2
Maximum current (A)8.716.824.933.0333.6648.357.6
Power rating (kW/s)7.027.145.962.526.337.350.8
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
8.178.4111.1814.5934.6854.9554.95
Mechanical time constant (ms)1.911.511.100.961.621.061.08
Power rating (kW/s)(with brake)6.424.943.157.424.135.948.9
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant
(ms)(with brake)
Brake holding torque [Nt-m (min)]
Brake power consumption
(at 20˚C)[W]
8.949.1411.9015.8837.8657.0657.06
2.071.641.191.051.771.101.12
*2
10.010.010.010.025.025.025.0
19.019.019.019.020.420.420.4
Brake release time [ms (Max)]10101010101010
Brake pull-in time [ms (Max)]70707070707070
Vibration grade (μm)15
Operating temperature (˚C)0ºC to 40ºC
Storage temperature (˚C)-10ºC to 80ºC
Operating humidity 20 to 90%RH (non-condensing)
Storage humidity 20 to 90%RH (non-condensing)
Vibration capacity2.5G
IP Rating
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F40, F60, F80, F100, F130, F180, F220
*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.
E
the rotating shaft (an oil seal model is used))
16
Servo Motor Specifications
Medium-High Inertia Series- 220V Series
13F18F122
ECMA Series
05081318304555751B1F
Rated output power (kW)0.50.851.31.83.04.55.57.51115
Rated torque (N-m)
*1
3.185.418.3411.4819.1028.6535.0147.747095.4
Maximum torque (N-m)8.9213.823.328.757.2971.6287.53119.36175224.0
Rated speed (r/min)1500
Maximum speed (r/min)30002000
Rated current (A)3.97.112.61319.432.540.047.551.867
Maximum current (A)12.119.438.63658.281.3100.0118.8129.5162
Power rating (kW/s)9.821.5234.7852.9366.4105.5122.9159.7144.9201.8
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
10.313.62024.954.9577.7599.78142.7338451
Mechanical time constant (ms)2.82.431.621.71.280.920.960.631.381.23
Power rating (kW/s)(with brake)8.819.7832.6650.363.9101.8119.4156.6141.4197.1
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant
(ms)(with brake)
Brake holding torque[Nt-m(min)]
Brake power consumption
(at 20˚C)[W]
11.514.821.326.257.0680.65102.70145.55346.5461.8
3.122.651.731.791.330.960.990.641.411.25
*2
1010.010.010.025.055.055.055.011511 5
1919.019.019.020.419.919.919.928.828.8
Brake release time [ms (Max)]10101010101010101010
Brake pull-in time [ms (Max)]70707070707070707070
Vibration grade (μm)15
Operating temperature (˚C)0ºC to 40ºC
Storage temperature (˚C)-10ºC to 80ºC
Operating humidity 20 to 90%RH (non-condensing)
Storage humidity 20 to 90%RH (non-condensing)
Vibration capacity2.5G
IP Rating
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F40, F60, F80, F100, F130, F180, F220
*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.
F
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to
the rotating shaft (an oil seal model is used))
17
High Inertia Series- 220V Series
06C08 G13
ECMA Series
Rated output power (kW)0.40.750.30.60.9
Rated torque (N-m)
Maximum torque (N-m)3.827.168.5917.1921.48
Rated speed (r/min)30001000
Maximum speed (r/min)50002000
Rated current (A)2.65.12.54.87.5
Maximum current (A)7.815.37.514.422.5
Power rating (kW/s)21.719.6310.039.066.0
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
Mechanical time constant (ms)1.421.61.841.401.06
Torque constant-KT (N-m/A)0.490.471.151.191.15
Voltage constant-KE (mV/(r/min)17.417.242.543.841.6
Armature resistance (Ohm)1.550.421.060.820.43
Armature inductance (mH)6.713.5314.2911.126.97
Electrical time constant (ms)4.38.3613.513.5016.06
Insulation classClass A (UL), Class B (CE)
Insulation resistance
Insulation strength1.8k Vac,1 sec
Weight (kg)(without brake)1.83.46.87.07.5
Weight (kg)(with brake)2.23.98.28.48.9
Max. radial shaft load (N)196245490490490
Max. thrust shaft load (N)6898989898
Power rating (kW/s)(with brake)21.4819.39.235.962.1
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant
(ms)(with brake)
Brake holding torque [Nt-m (min)]
Brake power consumption
(at 20˚C)[W]
Brake release time [ms (Max)]1010101010
Brake pull-in time [ms (Max)]7070707070
Vibration grade (μm)15
Operating temperature (˚C)0ºC to 40ºC
Storage temperature (˚C)-10ºC to 80ºC
Operating humidity 20 to 90%RH (non-condensing)
Storage humidity 20 to 90%RH (non-condensing)
Vibration capacity2.5G
IP Rating
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F40, F60, F80, F100, F130, F180, F220
*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.
*1
*2
C
▅
04
H07▅H03 06 09
1.272.392.865.738.59
0.7432.918.178.4111.18
100M
, DC 500V
Ω
0.7512.968.949.1411.9
1.431.622.01.511.13
1.32.510.010.010.0
6.58.219.019.019.0
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to
the rotating shaft (an oil seal model is used))
above
18
Servo Motor Specifications
Low / Medium Series- 400V Series
06 J08J09J10J13K13K18
ECMA Series
Rated output power (kW)0.40.750.7511.02.03.00.51.01.52.02.0
Rated torque (N-m)
Maximum torque (N-m)3.827.167.148.789.5419.128.657.1614.3221.4828.6528.65
Rated speed (r/min)30003000300030002000
Maximum speed (r/min)50003000500045003000
Rated current (A)1.623.072.162.44.157.099.81.73.525.026.666.6
Maximum current (A)4.859.56.377.1712.4621.2829.995.210.5615.0619.9819.88
Power rating (kW/s)58.250.429.638.638.291.271.86.9927.145.962.526.3
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
Mechanical time constant (ms)0.470.661.561.060.770.580.992.081.801.241.041.74
Brake release time [ms (Max)]101010101010101010101010
Brake pull-in time [ms (Max)]707070707070707070707070
Vibration grade (μm)15
Operating temperature (˚C)0ºC to 40ºC
Storage temperature (˚C)-10ºC to 80ºC
Operating humidity 20 to 90%RH (non-condensing)
Storage humidity 20 to 90%RH (non-condensing)
Vibration capacity2.5G
IP Rating
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material type : Aluminum – F80, F130, F180, F220
*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.
*1. Rate torque values are continuous permissible values at 0 ~ 40˚C ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F80, F130, F180, F220
*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.
L
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to