Delta ASDA-A2 Specification

Automation for a Changing World
Delta
AC Servo Drive & Motor
ASDA-A2
www.deltaww.com
Series
More Rapid, More Stable, More Precise
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
Table of Contents
ASDA-A2 Series Features
Product Line-up
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 Conguration Software
39
Optional Accessories
41
Servo Drive Specications
43
Servo Drive Dimensions
45
Optional Cables and Connectors
51
Servo Drive, Servo Motor and
61
Accessories Combinations
Safety Information
69
Regenerative Resistor Specications
70
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
60 70
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 0 1 2 3 4 5 6 7
After SuppressionBefore Suppression
2000
1500
1000
500
-500
-1000
-1500
-2000
0
0
1 2
3
4 5
6 7
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
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
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
Supports High-Speed DMCNET, EtherCAT, CANopen Protocols for Multi-Axis Synchronous Control
DOP-B DVS
Ethernet
AH500
PCI-DMC
DMCNET
or
ASDA-A2-F ASDA-A2-E ASDA-A2-M
Integrated Gantry Control
Sent From Host Controller
Axis 1 Axis 2
Pulse Command
CANopen
MH1-S30D DVP-10MC
Position Monitoring
Product Line-up
NOTE
220V Series
Motor Series Phase
Low Inertia ECMA-C 3000 r/min 1-phase / 3-phase
Servo Motors Servo Drives
Rated Output
Power (W)
50 ECMA-C1040F
100 ECMA-C 0401 S 0.90 2.70
200 ECMA-C 0602 S 1.55 4.65 ASD-A2-0221- 1.55 4.65
400 ECMA-C 0604 S 2.60 7.80
400 ECMA-C 0804 7 2.60 7.80
750 ECMA-C 0807 S 5.10 15.30
750 ECMA-C 0907 S 3.66 11.00
1000 ECMA-C 0910 S 4.25 12.37
1000 ECMA-C 1010 S 7.30 21.90
2000 ECMA-C 1020 S 12.05 36.15 ASD-A2-2023- 13.40 40.20
3000 ECMA-C 1330 4 17.2 47.5 ASD-A2-3023- 19.40 58.20
Model Name Rated current (Arms) Maximum current (A) Model Name
S 0.69 2.05
Medium Inertia ECMA-E 2000 r/min 1-phase / 3-phase
Medium-High Inertia ECMA-F 1500 r/min 1-phase / 3-phase
High Inertia ECMA-C/G 3000 r/min 1-phase / 3-phase
500 ECMA-E
1000 ECMA-E 1310 S 5.60 16.80 ASD-A2-1021- 7.30 21.90
1500 ECMA-E 1315 S 8.30 24.90 ASD-A2-1521- 8.66 24.90
2000 ECMA-E 1320 S 11.01 33.03
2000 ECMA-E 1820 S 11.22 33.66
3000 ECMA-E 1830 S 16.10 48.30
3500 ECMA-E 1835 S 19.20 57.60
500 ECMA-F
850 ECMA-F 1308 S 7.10 19.40 ASD-A2-1021- 7.30 21.90
1300 ECMA-F 1313 S 12.60 38.60
1800 ECMA-F 1318 S 13.00 36.00
3000 ECMA-F 1830 S 19.40 58.20 ASD-A2-3023- 19.40 58.20
4500 ECMA-F 1845 S 32.50 81.30
5500 ECMA-F 1855 3 40.00 100.00 ASD-A2-5523- 40.00 106
7500 ECMA-F 1875 3 47.50 118.80 ASD-A2-7523- 47.50 141.1
11000 ECMA-F1221B 3 51.80 129.50 ASD-A2-1B23- 54.40 141.1
15000 ECMA-F1221F S 67 162 ASD-A2-1F23- 70.00 212.2
400 ECMA-C
750 ECMA-C 0807 H 5.10 15.30 ASD-A2-0721- 5.10 15.30
300 ECMA-G 1303 S 2.50 7.50 ASD-A2-0421- 2.60 7.80
600 ECMA-G 1306 S 4.80 14.40 ASD-A2-0721- 5.10 15.30
900 ECMA-G 1309 S 7.50 22.50 ASD-A2-1021- 7.30 21.90
1305 S 2.90 8.70
1305 S 3.90 12.10 ASD-A2-0721- 5.10 15.30
0604 H 2.60 7.80 ASD-A2-0421 2.60 7.80
The boxes (
1) The boxes (
2)
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 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.
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
5.10 15.30
13.40 40.20
19.40 58.20
13.40 40.20
ASD-A2-4523-
ASD-A2-5523-
2.60 7.80 ASD-A2-0421 2.60 7.80
32.50 70.7
40.00 106
10
Product Line-up
NOTE
400V Series
Motor Series Phase
Low Inertia ECMA-J 3000 r/min 3-phase
Servo Motors Servo Drives
Rated Output
Power (W)
400 ECMA-J
750 ECMA-J 0807 S 3.07 9.5
750 ECMA-J 0907 S 2.16 6.37 ASD-A2-0743- 3.07 9.21
1000 ECMA-J 0910 S 2.4 7.17 ASD-A2-1043- 3.52 9.86
1000 ECMA-J 1010 S 4.15 12.46
2000 ECMA-J 1020 S 7.09 21.28
3000 ECMA-J 1330 4 9.8 29.99 ASD-A2-3043- 11.9 33.32
750 ECMA-K
1000 ECMA-K 1310 S 3.52 10.56
Model Name Rated current (Arms) Maximum current (A) Model Name
0604 S 1.62 4.85 ASD-A2-0743- 3.07 9.21
1305 S 1.7 5.2 ASD-A2-0743- 3.07 9.21
Medium Inertia ECMA-K 2000 r/min 3-phase
Medium-High Inertia ECMA-L 1500 r/min 3-phase
1500 ECMA-K 1315 S 5.02 15.06
2000 ECMA-K 1320 S 6.66 19.98
2000 ECMA-K 1820 S 6.6 19.88
750 ECMA-L
850 ECMA-L 1308 S 3.4 8.85 ASD-A2-1043- 3.52 9.86
1300 ECMA-L 1313 S 5.02 15
3000 ECMA-L 1830 S 11.53 34.6
4500 ECMA-L 1845 S 20.8 52
5500 ECMA-L 1855 3 22.37 56
7500 ECMA-L 1875 3 27.3 68.3
1305 S 2.1 6.1 ASD-A2-0743- 3.07 9.21
11000 ECMA-L1221B 3 27.2 68
15000 ECMA-L1221F 3 41.6 100 ASD-A2-1F43- 38.65 85.03
High Inertia ECMA-M 3000 r/min 3-phase 900 ECMA-M 1309 S 4.4 13.1 ASD-A2-1543- 5.02 10.04
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 explanation of the servo drive.
) in the model names represent shaft end/brake or the number of oil seal.
11
Continuous Output
Current (Arms)
1.62 4.85 ASD-A2-0743- 3.07 9.21
ASD-A2-0743-
ASD-A2-1043-
3.07 9.21
3.52 9.86
Max. Instantaneous
Current (A)
ASD-A2-1543-
ASD-A2-2043-
ASD-A2-2043-
ASD-A2-3043-
1.7 5.2 ASD-A2-0743- 3.07 9.21
ASD-A2-1043-
ASD-A2-1543-
ASD-A2-2043-
ASD-A2-1543-
ASD-A2-2043-
ASD-A2-2043-
ASD-A2-3043-
ASD-A2-2043-
ASD-A2-3043-
2.1 6.1 ASD-A2-0743- 3.07 9.21
ASD-A2-1543-
ASD-A2-2043-
ASD-A2-3043-
ASD-A2-4543-
ASD-A2-4543-
ASD-A2-5543-
ASD-A2-7543-
ASD-A2-5543-
ASD-A2-7543-
ASD-A2-7543-
ASD-A2-1B43-
ASD-A2-1F43-
ASD-A2-1B43-
ASD-A2-1F43-
5.02 10.04
6.66 18.65
6.66 18.65
11.9 33.2
3.52 9.86
5.02 10.04
6.66 18.65
5.02 10.04
6.66 18.65
6.66 18.65
11.9 33.32
6.66 18.65
11.9 33.32
5.02 10.04
6.66 18.65
11.9 33.32
20 44
20 44
22.04 48.49
28.39 62.46
22.04 48.49
28.39 62.46
28.39 62.46
28.1 61.82
38.65 85.03
28.1 61.82
38.65 85.03
12
Model Explanation
NOTE
ASDA-A2 Series Servo Drives
ASD - A2*5- 04 21 - M
Product Name:
AC Servo Drive
Series:
A2
Rated Output Power
01: 100 W 02: 200 W 04: 400 W 07: 750 W
10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW
45: 4.5 kW 55: 5.5 kW 75: 7.5 kW 1B: 11 kW
Model Type
(see the table below)
Input Voltage and Phase
21: 220V 1-phase / 3-phase 23: 220V 3-phase 43: 400V 3-phase
1F: 15 kW
Standard
Model
Type
RS-485
(CN3)
Full-Closed
Control (CN5)
*1
Extension
Port for
Digital Input
(CN7)
EtherCAT *4CANpen DMCNET
L X X X X X
U X X X
Analog Voltage Control
Pulse
Input Port
E X X X X X X X
Network
Model
F X X X X X
M X X X
2. When applying communication mode (A2-E, -F, -M models), PR parameters can be read and written through DMCNET only.
3. E-CAM function can only be used in PR mode.
4. For information about ASDA A2-E EtherCAT interface servo drive, please refer to the ASDA A2-E brochure.
5. For communication mode -F/-M models with 400V/11kW, 15kW is categorized as ASDA-A2R.
6. Rated power of 100W to 1.5kW are marked number 21 with 220V, single-phase and three-phase connections
1. In PR mode, only A2-F supports full-closed control function.
PR
Parameters
*2
*6
E-CAM
X
*3
ECMA Series Servo Motors
ECM A - C1 06 02 E S
Product Nam
ECM: Electrical Commutation Motor
Driving Type
A: AC Servo Motor
Series
Rated Voltage / Rated Speed
C: 220V / 3000 r/min E: 220V / 2000 r/min F: 220V / 1500 r/min G: 220V / 1000 r/min
Encoder Type
1: Incremental encoder, 20-bit 2: Incremental encoder, 17-bit 3: 2500 ppr
e
J: 400V / 3000 r/min K: 400V / 2000 r/min L: 400V / 1500 r/min M: 400V / 1000 r/min
A: Absolute encoder, Single-turn: 17-bit Multi-turn: 16-bit
Motor Frame Size
04: 40 mm 06: 60 mm 08: 80 mm 09: 86 mm
Shaft Type and
(with screw hole)
Keyway (with
10: 100 mm 13: 130 mm 18: 180 mm 22: 220 mm
S: Standard Shaft Diameter H: High Inertia Model
W/O
Brake
Oil Seal
Round Shaft
Keyway E F - -
screw hole)
W/O Oil
Seal
- - C D
P Q R S
Rated Output Power
0F: 50 W 01: 100 W 02: 200 W 03: 300 W 04: 400 W 05: 500 W 06: 600 W 07: 750 W
With
Brake
W/O Oil
Seal
08: 850 W 09: 900 W 10: 1 kW 13: 1.3 kW 15: 1.5 kW 18: 1.8 kW 20: 2 kW 30: 3 kW
W/O
Brake
With
Oil Seal
35: 3.5 kW 45: 4.5 kW 50: 5.0 kW 55: 5.5 kW 75: 7.5 kW 1B: 11 kW 1F: 15 kW
With
Brake
With
Oil Seal
13
Servo Motor Features
ECMA
ASDA-A2 220V series AC servo drives from 50 W to 15 kW and 380V to 480V ASDA-A2 400V series
AC servo drives from 750 W to 7.5 kW.
For the 220V series, there are 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm, 180 mm, and 200 mm
eight kinds of frame sizes available. The motor speed is from 1000 r/min to 5000 r/min and the torque
output is from 0.477 N-m to 224 N-m.
For the 400V series, there are 60 mm, 80 mm, 86 mm, 100 mm, 130 mm, 180 mm, six kinds of frame
sizes available. The motor speed is from 1500 r/min to 5000 r/min and the torque output is from 3.82
N-m to 119.36 N-m In terms of optional configurations, ECMA series provides brake and oil seal to fully
support our customers' needs. It also offers two different shaft selections, round shaft and keyway, for
various applications.
series servo motors are permanent AC servo motors, capable of combining with 200 to 230V
14
Servo Motor Specifications
Low Inertia Series- 220V Series
ECMA Series
C104 C
0F 01 02 04□S 04 07 07 10 10 20 30
04 C 06 C 08 C 09 C 10 C 13
Rated output power (kW) 0.05 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0 2.0 3.0
Rated torque (N-m)
*1
0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18 6.37 9.55
Maximum torque (N-m) 0.477 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54 19.11 28.65
Rated speed (r/min) 3000 3000 3000 3000
Maximum speed (r/min) 5000 3000 5000 4500
Rated current (A) 0.69 0.90 1.55 2.6 2.6 5.1 3.66 4.25 7.3 12.05 17.2
Maximum current (A) 2.05 2.70 4.65 7.8 7.8 15.3 11 12.37 21.9 36.15 47.5
Power rating (kW/s) 12.27 27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1 90.6 71.8
Rotor moment of inertia
-4
(x10
kg-m2)
0.0206 0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 12.7
Mechanical time constant (ms) 1.2 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74 0.61 1.11
Torque constant-KT (N-m/A) 0.23 0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44 0.53 0.557
Voltage constant-KE (mV/(r/min) 9.8 13.6 16 17.4 18.5 17.2 24.2 27.5 16.8 19.2 20.98
Armature resistance (Ohm) 12.7 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 0.0976
Armature inductance (mH) 26 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 1.21
Electrical time constant (ms) 2.05 2.58 4.3 4.3 7.96 8.36 5.66 6.35 9.3 11.4 12.4
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100MΩ , DC 500V above
Insulation strength 1.8k Vac,1 sec
Weight (kg)(without brake) 0.42 0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3 6.2 7.8
Weight (kg)(with brake) -- 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7 7.2 9.2
Max. radial shaft load (N) 78.4 78.4 196 196 245 245 245 245 490 490 490
Max. thrust shaft load (N) 39.2 39.2 68 68 98 98 98 98 98 98 98
Power rating (kW/s)(with brake) -- 25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4 82 65.1
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]
-- 0.04 0.19 0.30 0.73 1.18 1.95 2.67 3.33 4.95 14.0
-- 0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93 0.66 1.22
*2
-- 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8 8 10.0
-- 7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7 18.7 19.0
Brake release time [ms (Max)] -- 5 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] -- 25 70 70 70 70 70 70 70 70 70
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 capacity 2.5G
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 E 18
ECMA Series
05 10 15 20 20 30 35
Rated output power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.5
Rated torque (N-m)
*1
2.39 4.77 7.16 9.55 9.55 14.32 16.71
Maximum torque (N-m) 7.16 14.3 21.48 28.65 28.65 42.97 50.13
Rated speed (r/min) 2000
Maximum speed (r/min) 3000
Rated current (A) 2.9 5.6 8.3 11.01 11.22 16.1 19.2
Maximum current (A) 8.7 16.8 24.9 33.03 33.66 48.3 57.6
Power rating (kW/s) 7.0 27.1 45.9 62.5 26.3 37.3 50.8
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
8.17 8.41 11.18 14.59 34.68 54.95 54.95
Mechanical time constant (ms) 1.91 1.51 1.10 0.96 1.62 1.06 1.08
Torque constant-KT (N-m/A) 0.83 0.85 0.87 0.87 0.85 0.89 0.87
Voltage constant-KE (mV/(r/min) 30.9 31.9 31.8 31.8 31.4 32.0 32
Armature resistance (Ohm) 0.57 0.47 0.26 0.174 0.119 0.052 0.052
Armature inductance (mH) 7.39 5.99 4.01 2.76 2.84 1.38 1.38
Electrical time constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 26.39
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100MΩ , DC 500V above
Insulation strength 1.8k Vac,1 sec
Weight (kg)(without brake) 6.8 7.0 7.5 7.8 13.5 18.5 18.5
Weight (kg)(with brake) 8.2 8.4 8.9 9.2 17.5 22.5 22.5
Max. radial shaft load (N) 490 490 490 490 1176 1470 1470
Max. thrust shaft load (N) 98 98 98 98 490 490 490
Power rating (kW/s)(with brake) 6.4 24.9 43.1 57.4 24.1 35.9 48.9
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]
8.94 9.14 11.90 15.88 37.86 57.06 57.06
2.07 1.64 1.19 1.05 1.77 1.10 1.12
*2
10.0 10.0 10.0 10.0 25.0 25.0 25.0
19.0 19.0 19.0 19.0 20.4 20.4 20.4
Brake release time [ms (Max)] 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70
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 capacity 2.5G
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
13 F 18 F122
ECMA Series
05 08 13 18 30 45 55 75 1B 1F
Rated output power (kW) 0.5 0.85 1.3 1.8 3.0 4.5 5.5 7.5 11 15
Rated torque (N-m)
*1
3.18 5.41 8.34 11.48 19.10 28.65 35.01 47.74 70 95.4
Maximum torque (N-m) 8.92 13.8 23.3 28.7 57.29 71.62 87.53 119.36 175 224.0
Rated speed (r/min) 1500
Maximum speed (r/min) 3000 2000
Rated current (A) 3.9 7.1 12.6 13 19.4 32.5 40.0 47.5 51.8 67
Maximum current (A) 12.1 19.4 38.6 36 58.2 81.3 100.0 118.8 129.5 162
Power rating (kW/s) 9.8 21.52 34.78 52.93 66.4 105.5 122.9 159.7 144.9 201.8
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
10.3 13.6 20 24.9 54.95 77.75 99.78 142.7 338 451
Mechanical time constant (ms) 2.8 2.43 1.62 1.7 1.28 0.92 0.96 0.63 1.38 1.23
Torque constant-KT (N-m/A) 0.82 0.76 0.66 0.88 0.98 0.88 0.88 1.01 1.37 1.42
Voltage constant-KE (mV/(r/min) 29.5 29.2 24.2 32.2 35.0 32.0 31.0 35.5 49 50
Armature resistance (Ohm) 0.624 0.38 0.124 0.185 0.077 0.032 0.025 0.015 0.026 0.0184
Armature inductance (mH) 7 4.77 1.7 2.6 1.27 0.89 0.60 0.40 0.65 0.48
Electrical time constant (ms) 11.22 12.55 13.71 14.05 16.5 27.8 24.0 26.7 24.79 26.09
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100MΩ , DC 500V above
Insulation strength 1.8k Vac,1 sec
Weight (kg)(without brake) 6.3 8.6 9.4 10.5 18.5 23.5 30.5 40.5 56.4 75
Weight (kg)(with brake) 7.7 10.0 10.8 11.9 22.5 29 36 46 68.4 87
Max. radial shaft load (N) 490 490 490 490 1470 1470 1764 1764 3300 3300
Max. thrust shaft load (N) 98 98 98 98 490 490 588 588 1100 1100
Power rating (kW/s)(with brake) 8.8 19.78 32.66 50.3 63.9 101.8 119.4 156.6 141.4 197.1
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]
11.5 14.8 21.3 26.2 57.06 80.65 102.70 145.55 346.5 461.8
3.12 2.65 1.73 1.79 1.33 0.96 0.99 0.64 1.41 1.25
*2
10 10.0 10.0 10.0 25.0 55.0 55.0 55.0 115 11 5
19 19.0 19.0 19.0 20.4 19.9 19.9 19.9 28.8 28.8
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70 70
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 capacity 2.5G
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
06 C 08 G 13
ECMA Series
Rated output power (kW) 0.4 0.75 0.3 0.6 0.9
Rated torque (N-m)
Maximum torque (N-m) 3.82 7.16 8.59 17.19 21.48
Rated speed (r/min) 3000 1000
Maximum speed (r/min) 5000 2000
Rated current (A) 2.6 5.1 2.5 4.8 7.5
Maximum current (A) 7.8 15.3 7.5 14.4 22.5
Power rating (kW/s) 21.7 19.63 10.0 39.0 66.0
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
Mechanical time constant (ms) 1.42 1.6 1.84 1.40 1.06
Torque constant-KT (N-m/A) 0.49 0.47 1.15 1.19 1.15
Voltage constant-KE (mV/(r/min) 17.4 17.2 42.5 43.8 41.6
Armature resistance (Ohm) 1.55 0.42 1.06 0.82 0.43
Armature inductance (mH) 6.71 3.53 14.29 11.12 6.97
Electrical time constant (ms) 4.3 8.36 13.5 13.50 16.06
Insulation class Class A (UL), Class B (CE)
Insulation resistance
Insulation strength 1.8k Vac,1 sec
Weight (kg)(without brake) 1.8 3.4 6.8 7.0 7.5
Weight (kg)(with brake) 2.2 3.9 8.2 8.4 8.9
Max. radial shaft load (N) 196 245 490 490 490
Max. thrust shaft load (N) 68 98 98 98 98
Power rating (kW/s)(with brake) 21.48 19.3 9.2 35.9 62.1
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)] 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70
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 capacity 2.5G
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
H 07▅H 03 06 09
1.27 2.39 2.86 5.73 8.59
0.743 2.91 8.17 8.41 11.18
100M
, DC 500V
Ω
0.751 2.96 8.94 9.14 11.9
1.43 1.62 2.0 1.51 1.13
1.3 2.5 10.0 10.0 10.0
6.5 8.2 19.0 19.0 19.0
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 J 08 J 09 J 10 J 13 K 13 K 18
ECMA Series
Rated output power (kW) 0.4 0.75 0.75 1 1.0 2.0 3.0 0.5 1.0 1.5 2.0 2.0
Rated torque (N-m)
Maximum torque (N-m) 3.82 7.16 7.14 8.78 9.54 19.1 28.65 7.16 14.32 21.48 28.65 28.65
Rated speed (r/min) 3000 3000 3000 3000 2000
Maximum speed (r/min) 5000 3000 5000 4500 3000
Rated current (A) 1.62 3.07 2.16 2.4 4.15 7.09 9.8 1.7 3.52 5.02 6.66 6.6
Maximum current (A) 4.85 9.5 6.37 7.17 12.46 21.28 29.99 5.2 10.56 15.06 19.98 19.88
Power rating (kW/s) 58.2 50.4 29.6 38.6 38.2 91.2 71.8 6.99 27.1 45.9 62.5 26.3
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
Mechanical time constant (ms) 0.47 0.66 1.56 1.06 0.77 0.58 0.99 2.08 1.80 1.24 1.04 1.74
Torque constant-KT (N-m/A) 0.79 0.78 1.12 1.29 0.77 0.9 0.97 1.41 1.35 1.43 1.43 1.45
Voltage constant-KE (mV/(r/min) 30.6 28.24 42 50.9 29.0 34.4 37.3 51.5 53.2 55 55 54.0
Armature resistance (Ohm) 3.95 1.22 3.62 2.58 0.617 0.388 0.269 1.76 1.47 0.83 0.57 0.376
Armature inductance (mH) 21.3 10.68 21.2 15.28 6.03 4.62 3.55 22.4 17.79 11.67 8.29 7.87
Electrical time constant (ms) 5.39 8.75 5.85 5.93 9.77 11.9 13.2 12.73 12.04 14.04 14.39 20.9
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100MΩ, DC 500V above
Insulation strength 2.3k Vac, 1 sec
Weight (kg)(without brake) 1.6 3.0 2.9 3.8 4.3 6.2 7.8 6.8 7.0 7.5 7.8 13.5
Weight (kg)(with brake) 2 3.8 - - 4.7 7.2 9.2 8.2 8.4 8.9 9.2 17.5
Max. radial shaft load (N) 19.6 245 245 245 490 490 490 490 490 490 490 1176
Max. thrust shaft load (N) 68 98 98 98 98 98 98 98 98 98 98 490
Power rating (kW/s)(with brake) 53.8 48.4 29.3 37.9 30.4 82 65.1 6.39 24.9 43.1 59.7 24.1
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant (ms)(with brake)
Brake holding torque [Nt-m (min)]*21.3 2.5 2.5 2.5 8.0 8.0 10.0 10.0 10.0 10.0 10.0 25.0
Brake power consumption
(at 20˚C)[W]
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70 70 70 70
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 capacity 2.5G
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
J
04 07 07 10 10 20 30 05 10 15 20 20
1.27 2.39 2.39 3.18 3.18 6.37 9.55 2.39 4.77 7.16 9.55 9.55
0.277 1.13 1.93 2.62 2.65 4.45 12.7 8.17 8.41 11.18 14.59 34.68
0.3 1.18 1.95 2.67 3.33 4.95 14.0 8.94 9.14 11.90 15.88 37.86
0.52 0.65 1.57 1.08 0.96 0.65 1.09 2.28 1.96 1.32 1.13 1.9
6.5 8.5 8.2 8.2 18.5 18.5 19.0 19.0 19.0 19.0 19.0 20.4
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))
19
Medium-High / High Inertia Series- 400V Series
13 L 18 L122 M 13
ECMA Series
05 08 13 30 45 55 75 1B 1F 09
Rated output power (kW) 0.5 0.85 1.3 3.0 4.5 5.5 7.5 11 15 0.9
Rated torque (N-m)
*1
3.18 5.39 8.34 19.10 28.65 35.0 47.74 70 95.4 8.59
Maximum torque (N-m) 8.92 13.8 23.3 57.29 71.62 87.53 119.36 175 224 21.48
Rated speed (r/min) 1500 1500 1000
Maximum speed (r/min) 3000 2000 2000
Rated current (A) 2.1 3.4 5.02 11.53 20.8 22.37 27.3 27.2 41.6 4.4
Maximum current (A) 6.1 8.85 15 34.6 52 56 68.3 68 100 13.1
Power rating (kW/s) 7.72 17.0 29.47 66.4 105.5 122.9 159.7 145 201.8 66
Rotor moment of inertia
-4
(x10
kg-m2)(without brake)
13.1 17.1 23.6 54.95 77.75 99.78 142.7 338 451 11.18
Mechanical time constant (ms) 2.3 1.76 1.44 1.11 0.94 0.88 0.77 1.42 1.34 1.21
Torque constant-KT (N-m/A) 1.5 1.59 1.66 1.66 1.38 1.56 1.75 2.57 2.29 1.95
Voltage constant-KE (mV/(r/min) 55.5 58.9 61.1 64.4 53 58.9 66.4 96 83.9 71.7
Armature resistance (Ohm) 1.41 0.92 0.59 0.21 0.09 0.07 0.06 0.0994 0.0545 1.45
Armature inductance (mH) 20 14.1 9.54 4.94 2.36 2.2 1.7 2.51 1.43 23.3
Electrical time constant (ms) 14.1 15.33 16.17 23.97 28.07 27.6 28.29 25.25 26.26 16.07
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100MΩ, DC 500V above
Insulation strength 2.3k Vac,1 sec
Weight (kg)(without brake) 6.8 8.6 10.7 18.5 23.5 30.5 40.5 56.4 75 7.5
Weight (kg)(with brake) - 10 -- 22.5 29 36 46 68.4 87 8.9
Max. radial shaft load (N) 490 490 490 1470 1470 1764 1764 3300 3300 490
Max. thrust shaft load (N) 98 98 98 490 490 588 588 1100 1100 98
Power rating (kW/s)(with brake) 7.02 14.82 27.82 63.9 101.8 119.4 156.6 141.4 197.1 62
Rotor moment of inertia
-4
(x10
kg-m2)(with brake)
Mechanical time constant (ms)(with brake)
14.4 19.6 25 57.06 80.65 102.70 145.5 346.5 461.8 11.9
2.54 2.02 1.52 1.16 0.95 0.91 0.79 1.46 1.37 1.29
Brake holding torque [Nt-m (min)]*210.0 10.0 10.0 25.0 55.0 55.0 55.0 115 115 10.0
Brake power consumption
(at 20˚C)[W]
19.0 19.0 19.0 20.4 19.9 19.9 19.9 28.8 28.8 19.0
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70 70
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 capacity 2.5G
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 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
the rotating shaft (an oil seal model is used))
20
Servo Motor Dimensions
220V Series
Frame Size 86mm and below
Model
C1040F
LC
LZ
LA
S
LB
without brake 79.1 100.6 105.5 130.7 145.8 112.3 138.3 154.8 130.2 153.2
LL
with brake -- 136.8 141.6 166.8 176.37 152.8 178 187.8 161.3 184.3
LL
8 (
30 (
LS LR LE LG
LW
RH
WK
W
T
TP
S C
0401 S C 0602 S C 0604 S C 0604 H C 0804 7 C 0807 S C 0807 H C 0907 S C 0910 S
40 40 60 60 60 80 80 80 86 86
4.5 4.5 5.5 5.5 5.5 6.6 6.6 6.6 6.6 6.6
46 46 70 70 70 90 90 90 100 100
+0
- 0.009
+0
- 0.021
) 8 (
) 30 (
+0
- 0.009
+0
- 0.021
) 14 (
) 50 (
+0
- 0.011
+0
- 0.025
) 14 (
) 50 (
+0
- 0.011
+0
- 0.025
) 14 (
) 50 (
+0
- 0.011
+0
- 0.025
) 14 (
) 70 (
+0
- 0.011
+0
- 0.030
) 19 (
) 70 (
+0
- 0.013
+0
- 0.030
) 19 (
) 70 (
+0
- 0.013
+0
- 0.030
) 16 (
) 80 (
+0
- 0.011
+0
- 0.030
) 16 (
) 80 (
20 20 27 27 27 27 32 32 30 30
25 25 30 30 30 30 35 35 35 35
2.5 2.5 3 3 3 3 3 3 3 3
5 5 7.5 7.5 7.5 8 8 8 8 8
16 16 20 20 20 20 25 25 20 20
6.2 6.2 11 11 11 11 15.5 15.5 13 13
3 3 5 5 5 5 6 6 5 5
3 3 5 5 5 5 6 6 5 5
3 3 5 5 5 5 6 6 5 5
M3
Depth 8M3Depth 8M4Depth 15M4Depth 15M4Depth 15M4Depth 15M6Depth 20M6Depth 20M5Depth 15M5Depth 15
1) Dimensions are in millimeters.
2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes (  
4) The boxes (
) in the model names are for optional configurations(keyway, brake and oil seal).
) in the model names are for encoder resolution types. ( =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit; =A: Absolute type)
Units: mm
+0
- 0.011
+0
- 0.030
)
)
Speed-Torque Curves (T-N Curves)
Speed (r/min)
Torque (N-m)
Continuous Duty Zone Continuous Duty Zone
0602 □S ECMA-C 0807 □ S
ECMA-C
Torque (N-m)
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
Torque (N-m)
7.14
(298%)
6.00
(251%)
2.38
(100%)
Continuous Duty Zone
Continuous Duty Zone
ECMA-C1040F S
Intermittent Duty Zone
ECMA-C 0907 S
Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min)
Speed (r/min)
Torque (N-m)
Torque (N-m)
8.78
(276%)
5.85
(184%)
3.18
(100%)
Continuous Duty Zone
ECMA-C
0401 □S
Intermittent Duty Zone
Continuous Duty Zone
2,000 3,000
0910 □ S
ECMA-C
21
Torque (N-m) Torque (N-m)
0604 □ S
ECMA-C ECMA-C 0604 H ECMA-C 0804 7
Continuous Duty Zone
ECMA-C 0807 H
Loading...
+ 50 hidden pages