Delta ASDA-M Series, ASD-M-0721 Series, ASD-M-0721-F, ASD-M-1521 Series User Manual

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: [phone] / FAX: [phone]

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: [phone] / FAX: [phone]

Delta Ultimate Integrated AC Servo Drive with

Excellent Performance

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]

Delta Electronics Int’l (S) Pte Ltd

4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]

Delta Greentech (Brasil) S.A

Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: [phone] / FAX: [phone]

ASDA-M

Delta Ultimate Integrated

Series User Manual

AC Servo Drive with
Excellent Performance

ASDA-M

Series

User Manual

Via Polesine, 1/4
10020 Cambiano ( TO ) Italy
[phone]

www.e-comtech.it
[e-mail]

*We reserve the right to change the information in this catalogue without prior notice.

V2.0
DELTA_

IA-ASDA_M_UM_EN_20141219

www.delta.com.tw/ia

Preface

Thank you for purchasing ASDA-M. This user manual provides the related information of
ASDA-M series servo drives and ECMA series servo motors. This manual includes:

 Installation and inspection of servo drive and servo motor
 The configuration of servo drive
 Procedures of trial run
 Control function and adjustment methods of servo drive
 Parameters
 Communication protocol
 Maintenance and inspections
 Troubleshooting

This manual addresses personnel with the following qualifications:

 Servo system designers
 Installation or wiring personnel
 Trial and tuning personnel
 Maintenance and inspection personnel

Before using the product, please read through this manual carefully in order to ensure the
correct use of the product. In addition, please place this manual safely for quick reference
whenever is needed. Please follow the rules below if you have not finished reading this
manual yet.

 No water, corrosive gas and inflammable gas are allowed in installation

environment.

 Three-phase power is prohibited to connect to U, V and W connector when wiring.

It is possible to damage the servo drive.

 Ground is a must.
 Do not disconnect the servo drive, motor or change the wiring when connecting to

the power.

 Be ensured that the emergency stop can be activated anytime before connecting to

the power and operation.

 Do not touch the heat sink to avoid scald before connecting to the power and

operation.

If you have any enquiry , please contact the distri butors or DEALTA customer service center.

Revision December, 2014 i

Preface ASDA-M

Safety Precautions

ASDA-M series is the high resolution and open type servo drive. It should be installed in a
shielded control box during operation. This servo drive uses precise feedback control and
the digital signal processor with high-speed calculation function to control the current output
which generated by IGBT so as to operate three-phase permanent magnet synchronous
motors (PMSM) and to achieve precise positioning.

ASDA-M is applicable on industrial application and is suggested to be installed in the
panel-board of the user manual. (Servo drives, wire rod and motors all should be installed
in the environment which complies with the minimum requirement of UL Level 1.)

Pay special attention to the following safety precautions anytime during inspection,
installation, wiring, operation and examination.

The symbol of danger, warning and stop represent:

It indicates the potential hazards. It is possible to cause severe injury or fatal
harm if not follow the instructions.

It indicates the potential hazards. It is possible to cause minor injury or lead to
serious damage of the product or even malfunction if not follow the instructions.

It indicates the absolute prohibited activity. It is possible to damage the product or
cannot be used due to malfunction if not follow the instructions.

Inspection

 Please follow the instruction when using servo drive and servo motor, or it is

Installation

 It is prohibited to expose the product with the environment which containing

Wiring

 Please connect the ground terminal to class-3 ground system (under 100 Ω),

 Do not connect the three-phase source to the motor output terminal U, V and

 Please tighten the screws of the power and motor output terminal. Or it is

 Please connect wiring according to the wire rod in order to prevent any

possible to cause fire or malfunction.

water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric
shock or fire.

poor grounding may result in electric shock or fire.

W. Or it is possible to cause personnel injury or fire.

possible to cause fire.

danger.

ii Revision December, 2014

ASDA-M Preface

Operation

 Before the operation, please change the parameter setting value according to

the needs. If it is not adjusted to the correct setting value, it is possible to lead
to malfunction of the machine or the operation might out of control.

 Before the machine starts to operate, please be ensured the emergency stop

can be activated anytime.

 During the operation, it is prohibited to touch any rotating motor parts. Or it is

possible to cause personnel injury.

 In order to prevent any accident, please separate the couplings and belts of

the machine and isolate them. Then conduct the initial trial run.

 If users fail to operate the machine properly after the servo motor connects to

the equipments, it would cause the damage of the equipments and lead to the
personnel injury.

 In order to prevent the danger, it is strongly recommended to check if the

motor can operate normally without load first. Then, operate the motor with
load.

 Do not touch the heat sink of the servo drive. Or it is possible to cause scald

due to the high temperature.

Maintenance and Inspection

 It is prohibited to touch the internal parts of the servo drive and servo motor.

Or it is possible to cause electric shock.

 It is prohibited to disassemble the panel of the servo drive when turning on the

power. Or it is possible to cause electric shock.

 Do not touch the ground terminal within 10 minutes after turning off the power .

Or the residual voltage may cause electric shock.

 Do not disassemble the motor. Or it is possible to cause electric shock or

personnel injury.

 Do not change the wiring when the power is on. Or it is possible to cause

electric shock or personnel injury.

 Only the qualified electrical and electronics professionals can install, wire and

maintain the servo drive and servo motor.

Main Circuit Wiring

 Do not put the power cable and the encoder cable in the same channel and

bond them together. Please separate the power cable and the encoder cable
for at least 30 centimeters (= 11.8 inches) when wiring.

 Please use stranded wires and multi-core shielded-pair wires for the encoder

cables and encoder feedback cables. The maximum length of command input
cable is 3 meters (= 9.84 feet) and the maximum length of feedback cable is
20 meters (= 65.62 feet).

 The high voltage might remain in the servo motor even when the power is off.

Do not touch the power terminal temporally (at least 10 minutes). Please
conduct the inspection not until the indicator light, CHARGE is off.

Revision December, 2014 iii

Preface ASDA-M



Do not turn the power on and off too often. If continuous power on and off is
needed, please be ensured the interval is one minute at most.

Terminal Wiring of the Main Circuit

When wiring, please disassemble the terminal socket from the servo drive.




One terminal of the terminal socket for one electric wire only.
When inserting the electric wires, do not connect the conductor to the adjacent



wire.
Before connecting to the power, please inspect and be ensured the wiring is



correct.

NOTE

If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest

information.

iv

Revision December, 2014

Table of Content

Chapter 1 Inspection and Model Explanation

1.1 Inspection ...................................................................................................... 1-1

1.2 Product Model .............................................................................................. 1-2

1.2.1 Nameplate Information ......................................................................... 1-2

1.2.2 Model Explanation ................................................................................ 1-3

1.3 Servo Drive and Corresponding Servo Motor ................................................ 1-5

1.4 Features of Servo Drive ................................................................................. 1-6

Chapter 2 Installation

2.1 Notes ............................................................................................................. 2-1

2.2 Ambient Conditions of Storage ...................................................................... 2-1

2.3 Ambient Conditions of Installation ................................................................. 2-2

2.4 Installation Direction and Space .................................................................... 2-3

2.5 Specification of Circuit Breaker and Fuse ...................................................... 2-5

2.6 EMI Filters Selection ...................................................................................... 2-5

2.7 Selection of Regenerative Resistor ............................................................... 2-8

Chapter 3 Wiring

3.1 Connection between Peripheral Devices and Main Power Circuit ................. 3-1

3.1.1 Wiring Diagram of Peripheral Devices ................................................... 3-1

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3.1.2 Connectors and Terminals of the Servo Drive ....................................... 3-3

3.1.3 Wiring Method ....................................................................................... 3-5

3.1.4 Specification of Motor U, V, W Power Cable ......................................... 3-7

3.1.5 Specification of Connector of Encoder Cable ........................................ 3-9

3.1.6 Selection of Wire Rod ............................................................................ 3-12

3.2 Schematic Diagram of Servo System ............................................................ 3-14

3.3 I/O Signal (CN1) Connection ......................................................................... 3-15

3.3.1 I/O Signal (CN1) Connector Terminal Layout ....................................... 3-15

3.3.2 Explanation of I/O (CN1) Connector Signal .......................................... 3-17

3.3.3 Wiring Diagram (CN1) .......................................................................... 3-31

3.3.4 The Specified DI and DO Signal by the User ........................................ 3-40

3.4 CN2 Connector .............................................................................................. 3-41

3.5 Wiring of CN3 Connector ............................................................................... 3-44

3.5.1 Layout of CN3 Connector ..................................................................... 3-44

3.5.2 Connection between CN3 connector and Personal Computer ............. 3-45

3.6 CN4 Serial Connector (USB) ......................................................................... 3-46

3.7 CN5 Connector (Full-closed Loop) ................................................................ 3-47

3.8 CN6 Connector (CANopen) ........................................................................... 3-48

3.9 Standard Wiring Method ................................................................................ 3-50

3.9.1 Position (PT) Mode Standard Wiring .................................................. 3-50

3.9.2 Position (PR) Mode Standard Wiring .................................................. 3-51

3.9.3 Speed Mode Standard Wiring ............................................................. 3-52

3.9.4 Torque Mode Standard Wiring ............................................................ 3-53

Revision December, 2014

ASDA-M Table of Content

3.9.5 CANopen Mode Standard Wiring ........................................................ 3-54

Chapter 4 Panel Display and Operation

4.1 Panel Description .......................................................................................... 4-1

4.2 Parameter Setting Procedure ........................................................................ 4-2

4.2.1 Axis Switching Procedure .................................................................... 4-2

4.2.2 Parameter Setting Procedure of Each Axis ......................................... 4-3

4.3 Status Display................................................................................................ 4-4

4.3.1 Setting Saved Display .......................................................................... 4-4

4.3.2 Decimal Point ....................................................................................... 4-4

4.3.3 Alarm Message ..................................................................................... 4-4

4.3.4 Positive and Negative Sign Setting ....................................................... 4-4

4.3.5 Monitor Display ..................................................................................... 4-5

4.4 General Function ........................................................................................... 4-8

4.4.1 Operation of Fault Record Display ........................................................ 4-8

4.4.2 JOG Mode ............................................................................................ 4-9

4.4.3 Forced Digital Output Operation ........................................................... 4-10

4.4.4 Digital Input Diagnosis Operation ......................................................... 4-11

4.4.5 Digital Output Diagnosis Operation ...................................................... 4-12

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load ................................................................................. 5-1

5.2 Apply Power to the Servo Drive ..................................................................... 5-2

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5.3 JOG Trial Run without Load .......................................................................... 5-6

5.4 Trial Run without Load (Speed Mode) ........................................................... 5-7

5.5 Trial Run without Load (Position Mode) ......................................................... 5-9

5.6 Tuning Procedure .......................................................................................... 5-11

5.6.1 Flowchart of Tuning Procedure ............................................................. 5-12

5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-13

5.6.3 Flowchart of Auto Tuning ...................................................................... 5-14

5.6.4 Flowchart of Semi-auto Tuning ............................................................. 5-15

5.6.5 Limit of Load Inertia Estimation ............................................................ 5-17

5.6.6 Mechanical Resonance Suppression Method ....................................... 5-19

5.6.7 Tuning Mode and Parameters .............................................................. 5-20

5.6.8 Tuning in Manual Mode ........................................................................ 5-21

Chapter 6 Control Mode of Operation

6.1 Selection of Operation Mode ......................................................................... 6-1

6.2 Position Mode ................................................................................................ 6-3

6.2.1 Position Command of PT Mode ............................................................ 6-3

6.2.2 Position Command of PR Mode ........................................................... 6-6

6.2.3 Control Structure of Position Mode ....................................................... 6-7

6.2.4 S-curve Filter (Position) ........................................................................ 6-8

6.2.5 Electronic Gear Ratio ........................................................................... 6-12

6.2.6 Low-pass Filter ..................................................................................... 6-14

6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-16

Revision December, 2014

ASDA-M Table of Content

6.2.8 Gain Adjustment of Position Loop ........................................................ 6-16

6.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-18

6.3 Speed Mode .................................................................................................. 6-24

6.3.1 Selection of Speed Command .............................................................. 6-24

6.3.2 Control Structure of Speed Mode ......................................................... 6-25

6.3.3 Smooth Speed Command .................................................................... 6-26

6.3.4 The Scaling of Analog Command ......................................................... 6-30

6.3.5 The Timing Diagram in Speed Mode .................................................... 6-31

6.3.6 Gain Adjustment of Speed Loop ........................................................... 6-32

6.3.7 Resonance Suppression....................................................................... 6-39

6.4 Torque Mode ................................................................................................. 6-47

6.4.1 Selection of Torque Command ............................................................. 6-47

6.4.2 Control Structure of Torque Mode ........................................................ 6-48

6.4.3 Smooth Torque Command ................................................................... 6-49

6.4.4 The Scaling of Analog Command ......................................................... 6-50

6.4.5 The Timing Diagram in Torque Mode ................................................... 6-51

6.5 Dual Mode ..................................................................................................... 6-52

6.5.1 Speed／Position Dual Mode ................................................................. 6-53

6.5.2 Speed／Torque Dual Mode .................................................................. 6-53

6.5.3 Torque／Position Dual Mode ................................................................ 6-54

6.6 Others ............................................................................................................ 6-55

6.6.1 The Use of Speed Limit ........................................................................ 6-55

6.6.2 The Use of Torque Limit ....................................................................... 6-55

Revision December, 2014

Table of Content ASDA-M

6.6.3 Analog Monitor ..................................................................................... 6-56

6.6.4 The Use of Mechanical Brake ............................................................... 6-61

Chapter 7 Motion Control

7.1 Motion Control Functions of ASDA-M ............................................................ 7-1

7.2 Information of the Servo Drive ....................................................................... 7-1

7.2.1 Description of Monitor Variables ........................................................... 7-3

7.2.2 Description of Data Array ...................................................................... 7-9

7.3 Description of Motion Axes ............................................................................ 7-13

7.4 Description of PR Mode ................................................................................. 7-14

7.5 The Position Unit of PR Mode ....................................................................... 7-14

7.6 Description of Register in PR Mode ............................................................... 7-14

7.7 Description of Homing in PR Mode ................................................................ 7-16

7.8 DI/DO Provide by PR Mode and Diagrams ................................................... 7-16

7.9 Parameter Settings in PR Mode .................................................................... 7-18

7.9.1 The Relation between the Previous Path and Next Path .................... 7-28

7.9.2 Programming the Path in PR Mode .................................................... 7-29

7.10 The Description of E-Cam Function ............................................................... 7-30

7.10.1 Function Description of CAPTURE (Data Capture) ............................ 7-39

7.10.2 Function Description of COMPARE (Data Compare) ......................... 7-42

Chapter 8 Parameters

8.1 Parameter Definition ...................................................................................... 8-1

Revision December, 2014

ASDA-M Table of Content

8.2 Parameters .................................................................................................... 8-2

8.3 Parameter Description ................................................................................... 8-12

P0-xx Monitor Parameters .............................................................................. 8-12

P1-xx Basic Parameters ................................................................................. 8-38

P2-xx Extension Parameters .......................................................................... 8-79

P3-xx Communication Parameters ................................................................. 8-118

P4-xx Diagnosis Parameters .......................................................................... 8-127

P5-xx Motion Setting Parameters ................................................................... 8-142

P6-xx PR Parameters ..................................................................................... 8-198

P7-xx PR Parameters ..................................................................................... 8-248

Table 8.1 Function Description of Digital Input (DI) ......................................... 8-298

Table 8.2 Function Description of Digital Output (DO) .................................... 8-305

Chapter 9 Communication

9.1 RS-485／RS-232 Communication Hardware Interface ................................. 9-1

9.2 RS-485／RS-232 Communication Parameters Setting ................................. 9-4

9.3 MODBUS Communication Protocol ............................................................... 9-8

9.4 Write-in and Read-out in Communication Parameters .................................. 9-19

Chapter 10 Troubleshooting

10.1 Alarm of Servo Drive ..................................................................................... 10-1

10.2 Alarm of CANopen Communication ............................................................... 10-4

10.3 Alarm of Motion Control ................................................................................. 10-7

Revision December, 2014

Table of Content ASDA-M

10.4 Causes and Corrective Actions ..................................................................... 10-12

10.5 Corrective Actions after the Alarm Occurs ..................................................... 10-36

Chapter 11 Specifications

11.1 Specifications of Servo Drive (ASDA-M Series) ............................................ 11-1

11.2 Specifications of Servo Motor (ECMA Series) ............................................... 11-4

11.3 Torque Features (T-N curve) ......................................................................... 11-12

11.4 Overload Features ......................................................................................... 11-13

11.5 Dimensions of the Servo Drive ...................................................................... 11-15

11.6 Dimensions of the Servo Motor ..................................................................... 11-17

Appendix A Accessories
Appendix B Maintenance and Inspection

Revision December, 2014

Chapter 1 Inspection and Model

Explanation

1.1 Inspection

In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.

 Please c heck if the product is what you have purchased: check the part number of

the motor and the servo drive on the nameplate. Refer to the next page for the model
explanation.

 Check if the motor shaft can rotate smoothly: Rotate the motor shaft by hand. If it

can be rotated smoothly, it means the motor shaft is normal. However, it cannot be
rotated by hand if the motor has an electromagnetic brake.

 Check if there is any damage shown on its appearance: visually check if there is any

damage or scrape of the appearance.

 Check if there is any loose screw: If the screws are un-tightened or fall off.

If any of the above situations happens, please contact the distributors to solve the
problems.

A complete and workable servo set should include:

(1) A Servo drive and a servo motor
(2) Three UVW motor power cables, the U, V and W wires can connect to the socket

attached by the servo drive and another side is the plug which could connect to the
socket of the motor. And a green ground wire which should be locked to the ground
terminal of the servo drive. (selective purchase)

(3) Three encoder cables which connect to the socket of the encoder. One side of it

connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) 50-PIN connector which is used in CN1 (3M analog product) (selective purchase)
(5) 20-PIN connector which is used in CN2 (3M analog product) (selective purchase)
(6) 6-PIN connector which is used in CN3 (IEEE 1394 analog product) and is for

general communication (RS485) (selective purchase)
(7) 4-PIN connector which used in CN4 (USB Type B product) (selective purchase)
(8) RJ45 connector which used in CN6 and is for high-speed communication

(selective purchase)
(9) Servo drive power input:

(a) 750W and 1.5 kW: 2 PIN fast connector (L1c, L2c)

(b) 750W and 1.5 kW: 3 PIN fast connector (R, S, T)
(10) 3 sets of 3-PIN fast connector (U, V, W)

(11) 4-PIN fast connector (P , D, C, )
(12) A plastic lever (attached in all series)
(13) A metal short-circuit chip (attached in all series)
(14) An installation manual

Revision December, 2014 1-1

Chapter 1 Inspection and Model Explanation ASDA-M

1.2 Product Model

1.2.1 Nameplate Information ASDA-M Series Servo Drive

 Nameplate Information

Model Name

Power Specification

Power Input Specification

Power Output Specification

Barcode & Serial Number

Firmware Version

 Serial Number

M0721F 6 T 14 45 0003

ECMA Series Servo Motor

 Nameplate Information

Model Name

Power Input Specification

Power Output Specification

Barcode &

Serial Number

 Serial Number

MODEL : AS D - M-0721- F

POWER : 750W

INPUT : 200 ~ 230V 3PH 50/60H z 9. 51A
200~230V 1PH 50/60Hz 18.3A

OUTPUT : 110V 0-250Hz 5.1A

M0721M6T1100001

01.70

DELT A ELECTRO NICS, INC.

Serial Number

Production Week

Production Year

0: Year of 2010)

(starts from 0001 every week)

(from 1 to 52)

(14: Year of 2014 or

Production Factory

Delta St a ndard (

6: for RoHs)

Model Name

AC SERVO MOTOR

MODE L : ECMA- E 11320 RS
INPUT : kW 2.0 VAC 110 A 11.0
OUTPUT : r/min 2000 N.m 9.55 Ins.A

E11320RS T133 70017

Delta Electronics, Inc.

MADE IN TAIWAN

MADE IN XXXXXX

(T: Taoyuan; W: Wujiang)

E11320RS T 13 37 0017

Serial Num ber (S tarts from 00 01 every week)
Production Week (From 1 to 52)

Production Year (13: Year of 2013)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name

1-2 Revision December, 2014

ASDA-M Chapter 1 Inspection and Model Explanation

1.2.2 Model Explanation

ASDA-M Series Servo Drive

ASD-M-0721-L

Model T ype

Input Voltage and
Phase
21: 220V 1 phase/3
phase

Rated Power Input
07: 750W
15: 1.5kW

Model T ype

Type

M

F
L

R

Product Series

M

Product Name

AC SERVO Drive

Full-closed

Loop

○ ○ × ○
○ × ○ ○
○ × × ×
○ × ○ ○

CANopen DMCNET E-CAM

Revision December, 2014 1-3

Chapter 1 Inspection and Model Explanation ASDA-M

A:A

ECMA Series Servo Motor

ECMA-C10602ES

Standard Shaft Diameter: S
Specific Shaft Diameter: 3=42mm,
7=14mm

Type of Shaft
Diameter and

Oil Seal

Round Shaft
(with fixed
screw holes)

Keyway E F G H
Keyway

(with fixed

screw holes)

w/o

Brake

w/o Oil

Seal

A B C D

P Q R S

with

Brake

w/o Oil

Seal

Rated Power Output

0F:50 W 05:500 W 10:1.0 kW

01:100 W 06:600 W 13:1.3 kW

02:200 W 07:750 W 15:1.5 kW

03:300 W 08:850 W 18:1.8 kW

04:400 W 09:900 W

w/o

Brake

with Oil

Seal

Motor Frame Size

04: 40 mm 09: 86 mm

06: 60 mm 10:100 mm

With

Brake

With Oil

Seal

08: 80 mm 13:130 mm

Name of the Series

Rated Voltage and Rated Speed

C = 220V/3,000 rpm; E = 220V/2,000 rpm;

F = 220V/1,500 rpm; G = 220V/1,000 rpm;

Sensor Type

1: Incremental, 20-bit (For the drive which

is under 3kW)
2: Incremental, 17-bit
3: 2500 ppr
A: Absolute ( Resolution of single cycle:
17-bit; Resolution/multi-cycle:16-bit)

Servo T ype

C Servo

Product Name
ECM: Electronic
Commutation Motor

1-4 Revision December, 2014

ASDA-M Chapter 1 Inspection and Model Explanation

1.3 Servo Drive and Corresponding Servo Motor

ASDA-M Series Servo Drive

Servo Drive Corresponding Servo Motor

ECMA-C1040FS（S=8 mm）

750W ASD-M-0721-

1500W ASD-M-1521-

ECMA-C
ECMA-C
ECMA-C

ECMA-C△0604H ( H = high-inertia)

ECMA-C

ECMA-C

ECMA-C△0807H ( H=high-inertia)

ECMA-C
ECMA-E
ECMA-G
ECMA-G
ECMA-C△0807S（S=19 mm）

ECMA-C△0807H ( H=high-inertia)

ECMA-C
ECMA-C
ECMA-C
ECMA-E

ECMA-F△1308S（S=22 mm）

△0401S（S=8 mm）
△0602S（S=14 mm）
△0604S（S=14 mm）

△08047（7=14 mm）

△0807S（S=19 mm）

△0907S（S=16 mm）
△1305S（S=22 mm）
△1303S（S=22 mm）
△1306S（S=22 mm）

△0907S（S=16 mm）
△0910S（S=16 mm）
△1010S（S=22 mm）
△1310S（S=22 mm）

ECMA-F△1313S（S=22 mm）
ECMA-E△1315S（S=22 mm）
ECMA-G

△1309S（S=22 mm）

NOTE

1) Box, () at the end of the model name of the servo drive represents the code of
ASDA-M. Please refer to the type of purchasing product information.

2) Triangle, (△) in the mode name of the servo motor represents the type of encoder.
△=1: incremental, 20-bit；△=2: incremental, 17-bit; △=3: 2500 ppr; △=A: Absolute.

The listed model name is for reference. To purchase the product, please contact the
local dealer for product availability.

3) Box, () in the model name of the servo motor represents the type of brake or
keyway / oil seal.

The above table shows the specification of servo drive which has triple rated current. If the
user needs the servo drive which has six times of the rated current, please contact with
distributors. For detailed specification of the servo motor and servo drive, please refer to
the appendix.

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Chapter 1 Inspection and Model Explanation ASDA-M

1.4 Features of Servo Drive

ASDA-M Series Servo Drive

1-6 Revision December, 2014

ASDA-M Chapter 1 Inspection and Model Explanation

ASDA-M Series Servo Drive (top view)

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Chapter 1 Inspection and Model Explanation ASDA-M

ASDA-M Series Servo Drive (bottom view)

1-8 Revision December, 2014

Chapter 2 Installation

2.1 Notes

Please pay special attention to the followings:

1) Do not strain the cable connection between the servo drive and the servo motor.

2) Make sure each screw is tightened when fixing the servo drive.

3) The motor shaft and the ball screw should be parallel.

4) If the connection between the servo drive and the servo motor is over 20 meters, please
thicken the connecting wire, UVW as well as the encoder cable.

5) Tighten the fixed four screws of the motor.

2.2 Ambient Conditions of Storage

Before the installation, this product has to be kept in shipping carton. In order to retain the
warranty coverage and for the maintenance, please follow the instructions below when
storage, if the product is not in use temporally:

 Store the product in a dry and dust-free location.

 Store the product within an ambient temperature range of -20℃ to +65℃.
 Store the product within a relative humidity range of 0% to 90% and a non-condensing

environment.

 Avoid storing the product in the environment of corrosive gas and liquid.

 It is better to store the product in shipping carton and put it on the shelf or working

platform.

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Chapter 2 Installation ASDA-M

2.3 Ambient Conditions of Installation

The best temperature of this servo drive is between 0℃ and 55℃. If the temperature is over

45℃, please place the product in a well-ventilated environment so as to ensure its reliability
performance. If the product is installed in an electric box, make sure the size of the electric

box and its ventilation condition will not overheat and endanger the internal electronic
device. Also, pay attention to the vibration of the machine. Check if the vibration will
influence the electronic device of the electric box. Besides, the ambient conditions should
also include:

 Location has no over-heat device.

 Location has no water drop, vapor, dust and oily dust.

 Location has no corrosive and inflammable gas and liquid.

 Location has no airborne dust and metal particles.
 Location has solid foundation and no vibration.

 Location has no interference of electromagnetic noise.

The ambient temperature of the motor is between 0℃ and 40℃ and the ambient conditions
include:

 Location has no over-heat device.

 Location has not water drop, vapor, dust and oily dust.

 Location has no corrosive and inflammable gas and liquid.

 Location has no airborne dust and metal particles.

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ASDA-M Chapter 2 Installation

2.4 Installation Direction and Space

Notes:

Follow the instructions for installation direction. Otherwise it is possible to cause
malfunction. In order to have well-cooling and circulation effect, the enough space between
adjacent objects and the baffle is needed. Or it might result in malfunction. When installing
AC servo drive, do not seal the suction hole and the vent hole. Do not place the drive in a
horizontal direction, or it might cause malfunction.

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Chapter 2 Installation ASDA-M

Dimensions:

In order to have smaller wind resistance of the fan and increase the ventilation, please
follow the suggested clearance value when installing one or more than one servo drives.
(Refer to the following diagrams)

NOTE

2-4 Revision December, 2014

The above diagrams are not in equal proportion. Please refer to the
annotation.

ASDA-M Chapter 2 Installation

2.5 Specification of Circuit Breaker and Fuse

Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA.

Servo Drive Model Circuit breaker Fuse (Class T)

Operation Mode General General

ASD-M-0721-
ASD-M-1521-

30A 50A
70A 140A

If the servo drive equips with earth leakage circuit breaker for avoiding

NOTE

electric leakage, please choose the current sensitivity which is over
200mA and can continue up to 0.1 seconds.

2.6 EMI Filters Selection

Item Power Servo Drive Model EMI Filter Model FootPrint

1 750W ASD-M-0721- 20TDT1W4D N
2 1500W ASD-M-1521- 20TDT1W4D N

EMI Filter Installation

All electronic equipment (including servo drive) generates high or low frequency noise
during operation and interfere the peripheral equipments via conduction or radiation. With
EMI Filter and the correct installation, much interference can be eliminated.

When installing servo drive and EMI Filter, please follow the instructions of the user manual
and make sure it meets the following specification.

1. EN61000-6-4 (2001)

2. EN61800-3 (2004) PDS of category C2

3. EN55011+A2 (2007) Class A Group 1

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Chapter 2 Installation ASDA-M

General Precaution

In order to ensure the best performance of EMI Filter, apart from the instructions of servo
drive installation and wiring, please follow the precautions mention below:

1. The servo drive and EMI Filter should be installed on the same metal plate.

2. When installing servo drive and EMI Filter, the servo drive should be installed above
the EMI Filter.

3. The wiring should be as short as possible.

4. The metal plate should be well grounded.

5. The metal cover of the servo drive and EMI Filter or grounding should be firmly fixed

on the metal plate. Also, the contact area should be as large as possible.

Motor Cable Selection and Installation Precautions

The selection of motor cables and correct installation affect the performance of EMI Filter.
Please follow the precautions mention below.

1. Use the cable that has braid shielding (The effect of double shielding is better)

2. The shield on both sides of the motor cable should be grounded in the shortest

distance and the largest contact area.

3. The protective paint of the U-shape saddle and metal plate should be removed in

order to ensure the good contact. Please see disgram 1.

4. It should have correct connection between the braid shielding of the motor cable and

the metal plate. The braid shielding on both sides of the motor cable should be fixed
by the U-shape saddle and metal plate. Please see diagram 2 for the correct
connection.

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ASDA-M Chapter 2 Installation

Diagram 1 Diagram 2

Dimensions of EMI Filter

Delta Part Number: 20TDT1W4D

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Chapter 2 Installation ASDA-M

2.7 Selection of Regenerative Resistor

When the direction of pull-out torque is different from the rotation, it means the electricity is
sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and
increases the voltage. When the voltage increases to a specific value, the come-back
eletricity can only be consumed by regenerative resistor. There is a built-in regenerative
resistor in the servo drive. Users can also use the external regenerative resistor if needed.

The following table is the specification of built-in regenerative resistor provided by ASDA-M
series.

Specification of built-in

Servo Drive

(kW)

0.75 40 60 30 30

1.5 20 100 50 20

*1 The capacity of built-in regenerative resistor (average value) is 50% of the rated capacity

of the built-in regenerative resistor. The capacity of the external regenerative resistor is
the same as the built-in one.

When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the
external regenerative resistor should be applied. Please pay special attention to the
followings when using the regenerative resistor.

1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of the
regenerative resistor. Or it might influence the performance of this function.

regenerative resistor

Resistance

(P1-52) (Ohm)

Capacity

(P1-53) (Watt)

*1 The capacity of

built-in regenerative

resistor

(Watt)

Minimum allowable

resistance

(Ohm)

2. If users desire to use the external regenerative resistor, please make sure the applied
value is the same as the built-in regenerative resistor. If users desire to connect it in
parallel to increase the power of regenerative resistor, please make sure the
capacitance meets the requirements.

3. In natural environment, if the capacity of regenerative resistor (the average value) is
within the rated capacity, the temperature of the capacitance will increase to 120℃ or
even higher (under the condition of regenerative energy keeps existing). For safety

concerns, please apply the method of forced cooling in order to reduce the
temperature of regenerative resistor. Or, it is suggested to use the regenerative
resistor which is equipped with thermal switches. Please contact the distributors for
load characteristics of the regenerative resistor.

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ASDA-M Chapter 2 Installation

When using the external regenerative resistor, the resistor should connect to P, C terminal
and the contact of P, D terminal should be opened. It is recommended to choose the above
mentioned capacitance. For easy calculation of regenerative resistor capacity, except the
energy consumed by IGBT, two ways are provided to select the capacity of external
regenerative resistor.

(1) Regenerative Power Selection

(a) When the external load on torque does not exist
If the motor operates back and forth, the energy generated by the brake will go into

the capacitance of DC bus. When the voltage of the capacitance exceeds a specific
value, the redundant energy will be consumed by regenerative resistor. Two ways of
selecting regenerative resistor are provided here. The table below provides the
energy calculation method. Users can refer to it and calculate the selected
regenerative resistor.

Servo Drive

(kW)

0.75

0.75

0.75

0.75

Low

Inertia

0.75

0.75

0.75

1.5

1.5

0.75

Medium

Inertia

1.0

2.0

Motor

ECMA-Cᇞ040F□□
ECMA-Cᇞ0401□□
ECMA-Cᇞ0602□□
ECMA-Cᇞ0604□□
ECMA-Cᇞ0804□□
ECMA-Cᇞ0807□□
ECMA-Cᇞ0907□□
ECMA-Cᇞ1010□□
ECMC-Cᇞ0910□□

ECMA-Eᇞ1305□□
ECMA-Eᇞ1310□□
ECMA-Eᇞ1315□□

Regenerative

Rotor Inertia

J

-4

(× 10

kg.m2)

0.021

0.037

0.177

0.277

0.68

1.13

1.93

2.65

2.62

power from
empty load

3000r/min to

stop

Eo (joule)

0.10 4.21

0.18 4.21

0.87 5.62

1.37 8.42

3.36 8.42

5.59 17.47

9.54 17.47

13.10 21.22

12.96 21.22

8.17 40.40

8.41 41.59

The Maximum

regenerative

power of

capacitance

Ec (joule)

8.42

21.22

11.18 55.29 25.58

Medium-High

Inertia

High

Inertia

Eo= J * wr2/182（joule）, Wr : r/min

Revision December, 2014 2-9

1.5

0.75

0.75

1.5

ECMA-Fᇞ1308□□

ECMA-Gᇞ1303□□
ECMA-Gᇞ1306□□
ECMA-Gᇞ1309□□

13.6 67.25 21.22

8.17 17.96 8.42

8.41 18.48 17.47

11.18 24.57 21.22