Delta Products ASDA-A2 Series Users Manual

V5.1 DELTA_IA-ASDA_A2_UM_EN_20170209

Preface

Thank you for purchasing ASDA-A2. This user manual provides the related information of ASDAA2R series servo drive 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 distributors or DEALTA customer service center.

Revision February, 2017 i

Preface ASDA-A2

Safety Precautions

ASDA-A2 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-A2 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 possible

Installation

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

Wiring

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

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

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

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

to cause fire or malfunction.

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

grounding may result in electric shock or fire.

is possible to cause personnel injury or fire.

cause fire.

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ASDA-A2 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.

 When power on, please make sure the motor shaft stands still and will not operate

because of mechanical inertia or other causes.

 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

equipment, it would cause the damage of the equipment 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.

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Preface ASDA-A2

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.

 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.

iv Revision February, 2017

Chapter 1 Inspection and Model Explanation .................................................................... 1-1

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

1.2 Product Model ......................................................................................................... 1-3

1.2.1 Nameplate Information ...................................................................................... 1-3

1.2.2 Model Explanation ............................................................................................. 1-4

1.3 Servo Drive and Corresponding Servo Motor ......................................................... 1-6

1.3.1 220 V Series ...................................................................................................... 1-6

1.3.2 400 V Series ...................................................................................................... 1-8

1.4 Each Part of the Servo Drive ................................................................................... 1-9

1.4.1 220 V Series ...................................................................................................... 1-9

1.4.2 400 V Series ...................................................................................................... 1-12

Chapter 2 Installation ........................................................................................................... 2-1

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

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

2.3 Ambient Conditions of Installation ........................................................................... 2-1

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

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

2.6 EMI Filter Selection ................................................................................................. 2-6

2.7 Selection of Regenerative Resistor ......................................................................... 2-9

Chapter 3 Wiring ................................................................................................................... 3-1

3.1 Connections – 220V series ..................................................................................... 3-1

3.1.1 Connecting to Peripheral Devices ..................................................................... 3-1

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ASDA-A2 Table of Contents

3.1.2 Connectors and Terminals of Servo Drive ......................................................... 3-2

3.1.3 Wiring Method ................................................................................................... 3-4

3.1.4 Specification of Motor Power Cable .................................................................. 3-6

3.1.5 Specification of Encoder Cable Connector ........................................................ 3-8

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

3.2 Connections – 400V series ..................................................................................... 3-14

3.2.1 Connecting to Peripheral Devices ..................................................................... 3-14

3.2.2 Connectors and Terminals of the Servo Drive ................................................... 3-16

3.2.3 Wiring Method ................................................................................................... 3-18

3.2.4 Specification of Motor Power Cable .................................................................. 3-19

3.2.5 Specification of Encoder Connector .................................................................. 3-21

3.2.6 Selection of Wiring Rod ..................................................................................... 3-23

3.3 Basic Wiring ............................................................................................................ 3-25

3.3.1 220V series ....................................................................................................... 3-25

3.3.2 400V series ....................................................................................................... 3-28

3.4 I/O Signal (CN1) Connection ................................................................................... 3-30

3.4.1 I/O Signal (CN1) Connector Terminal Layout .................................................... 3-30

3.4.2 Signals Explanation of Connector CN1 ............................................................. 3-32

3.4.3 Wiring Diagrams (CN1) ..................................................................................... 3-42

3.4.4 DI and DO Signal Specified by Users................................................................ 3-50

3.4.5 Application: Using CN1 Quick Connector for Wiring ......................................... 3-50

3.5 CN2 Connector ........................................................................................................ 3-54

3.6 Wiring of CN3 Connector ........................................................................................ 3-57

3.6.1 Layout of CN3 Connector .................................................................................. 3-57

3.6.2 Connection between PC and Connector CN3 ................................................... 3-58

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Table of Contents ASDA-A2

3.7 CN4 Serial Connector (USB) ................................................................................... 3-59

3.8 CN5 Connector (Full-closed loop) ........................................................................... 3-60

3.9 CN6 Connector (CANopen) ..................................................................................... 3-61

3.10 Extension Digital Input Connector of CN7 ............................................................... 3-63

3.11 CN8 Connector of Battery Box ................................................................................ 3-64

3.12 Standard Connection Example – 220V series ......................................................... 3-65

3.12.1 Position (PT) Control Mode ............................................................................... 3-65

3.12.2 Position (PR) Control Mode ............................................................................... 3-66

3.12.3 Speed Control Mode ......................................................................................... 3-67

3.12.4 Torque Control Mode ........................................................................................ 3-68

3.12.5 Communication Mode ....................................................................................... 3-69

3.13 Standard Connection Example – 400V series ......................................................... 3-70

3.13.1 Position (PT) Control Mode ............................................................................... 3-70

3.13.2 Position (PR) Control Mode ............................................................................... 3-71

3.13.3 Speed Control Mode ......................................................................................... 3-72

3.13.4 Torque Control Mode ........................................................................................ 3-73

3.13.5 Communication Mode ....................................................................................... 3-74

Chapter 4 Panel Display and Operation .............................................................................. 4-1

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

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

4.3 Status Display ......................................................................................................... 4-5

4.3.1 Save Setting Display ......................................................................................... 4-5

4.3.2 Decimal Point .................................................................................................... 4-5

4.3.3 Alarm Message ................................................................................................. 4-5

4.3.4 Positive and Negative Sign Setting .................................................................. 4-5

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4.3.5 Monitor Display .................................................................................................. 4-6

4.4 General Function ..................................................................................................... 4-9

4.4.1 Operation of Fault Record Display .................................................................... 4-9

4.4.2 JOG Mode ......................................................................................................... 4-10

4.4.3 Force DO Output ............................................................................................... 4-11

4.4.4 Digital Input Diagnosis Operation ...................................................................... 4-12

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

Chapter 5 Trial Operation and Tuning ................................................................................ 5-1

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

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

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 Inertia Ratio .......................................................................................... 5-16

5.6.6 Mechanical Resonance Suppression Method ................................................... 5-18

5.6.7 Tuning Mode and Parameters ........................................................................... 5-19

5.6.8 Tuning in Manual Mode ..................................................................................... 5-20

Chapter 6 Control Mode of Operation ................................................................................. 6-1

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

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

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Table of Contents ASDA-A2

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

6.2.2 Position Command in PR Mode ........................................................................ 6-7

6.2.3 Control Structure of Position Mode.................................................................... 6-8

6.2.4 S-curve Filter (Position) ..................................................................................... 6-9

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

6.2.6 Low-pass Filter .................................................................................................. 6-15

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

6.2.8 Gain Adjustment of Position Loop ..................................................................... 6-17

6.2.9 Low-frequency Vibration Suppression in Position Mode ................................... 6-19

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

6.3.1 Selection of Speed Mode .................................................................................. 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 Timing Diagram in Speed Mode ........................................................................ 6-31

6.3.6 Gain Adjustment of Speed Loop ....................................................................... 6-31

6.3.7 Resonance Suppression ................................................................................... 6-38

6.4 Torque Mode ........................................................................................................... 6-45

6.4.1 Selection of Torque Command .......................................................................... 6-45

6.4.2 Control Structure of Torque Mode ..................................................................... 6-46

6.4.3 Smooth Torque Command ................................................................................ 6-47

6.4.4 The Scaling of Analog Command ...................................................................... 6-47

6.4.5 Timing Diagram in Torque Mode ....................................................................... 6-48

6.5 Dual Mode ............................................................................................................... 6-49

6.5.1 Speed / Position Dual Mode .............................................................................. 6-50

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ASDA-A2 Table of Contents

6.5.2 Speed / Torque Dual Mode ............................................................................... 6-50

6.5.3 Torque / Position Dual Mode ............................................................................. 6-51

6.6 Others ...................................................................................................................... 6-52

6.6.1 The Use of Speed Limit ..................................................................................... 6-52

6.6.2 The Use of Torque Limit .................................................................................... 6-52

6.6.3 Analog Monitor .................................................................................................. 6-53

6.6.4 The Use of Brake .............................................................................................. 6-57

Chapter 7 Motion Control ..................................................................................................... 7-1

7.1 Motion Control Functions of ASDA-A2 .................................................................... 7-1

7.2 System Information ................................................................................................. 7-1

7.2.1 Description of Monitoring Variables ................................................................... 7-2

7.2.2 Description of Data Array .................................................................................. 7-8

7.3 Description of Motion Axes ...................................................................................... 7-11

7.4 Description of PR Mode .......................................................................................... 7-12

7.5 The Difference between General PR Mode and the One in ASDA-A2 ................... 7-12

7.6 The Position Unit of PR Mode ................................................................................. 7-13

7.7 Description of Register in PR Mode ........................................................................ 7-13

7.8 Homing Description of PR Mode ............................................................................. 7-15

7.9 DI/DO Provided by PR Mode and Diagrams ........................................................... 7-16

7.10 Parameter Settings .................................................................................................. 7-18

7.10.1 The Relation between the Previous Path and the Next Path ............................ 7-25

7.10.2 Programming the Path in PR Mode ................................................................... 7-26

7.11 The Description of E-Cam Function ........................................................................ 7-27

7.11.1 Function Description of CAPTURE (Data Capture) ........................................... 7-34

7.11.2 Function Description of COMPARE (Data Compare) ........................................ 7-36

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Table of Contents ASDA-A2

Chapter 8 Parameters ........................................................................................................... 8-1

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

8.2 List of Parameters .................................................................................................. 8-2

8.3 Parameter Description ........................................................................................... 8-13

P0-xx Monitor Parameters .......................................................................................... 8-13

P1-xx Basic Parameters ............................................................................................. 8-40

P2-xx Extension Parameters ....................................................................................... 8-91

P3-xx Communication Parameters ............................................................................. 8-136

P4-xx Diagnosis Parameters ...................................................................................... 8-147

P5-xx Motion Setting Parameters ............................................................................... 8-161

P6-xx PR Parameters ................................................................................................. 8-225

P7-xx PR Parameters ................................................................................................. 8-267

Table 8.1 Function Description of Digital Input (DI) ..................................................... 8-279

Table 8.2 Function Description of Digital Output (DO) ................................................. 8-288

Chapter 9 Communications ................................................................................................. 9-1

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

9.2 RS-485 & RS-232 Communication Parameters Setting .......................................... 9-3

9.3 MODBUS Communication Protocol ........................................................................ 9-6

9.4 Write-in and Read-out Communication Parameters ................................................ 9-18

Chapter 10 Troubleshooting .............................................................................................. 10-1

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

10.2 Alarm of CANopen Communication ...................................................................... 10-5

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

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

10.5 Corrective Actions after the Alarm Occurs ............................................................ 10-29

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ASDA-A2 Table of Contents

Chapter 11 Specifications .................................................................................................. 11-1

11.1 Specifications of Servo Drives ................................................................................. 11-1

11.1.1 ASDA-A2 220V Series ..................................................................................... 11-1

11.1.2 ASDA-A2 400V Series ..................................................................................... 11-4

11.2 Specifications of Servo Motors (ECMA Series) ....................................................... 11-7

11.2.1 ECMA 220V Series.......................................................................................... 11-7

11.2.2 ECMA 400V Series........................................................................................ 11-17

11.3 Torque Features (T-N Curves) .............................................................................. 11-25

11.3.1 220V Series ................................................................................................... 11-25

11.3.2 400V Series ................................................................................................... 11-27

11.4 Overload Features ................................................................................................. 11-29

11.5 Dimensions of Servo Drive .................................................................................... 11-31

11.5.1 220V Series ................................................................................................... 11-31

11.5.2 400V Series ................................................................................................... 11-38

11.6 Dimensions of Servo Motor (ECMA Series) .......................................................... 11-41

11.6.1 220V Series ................................................................................................... 11-41

11.6.2 400V Series ................................................................................................... 11-48

Chapter 12 Absolute System ............................................................................................. 12-1

12.1 Backup Battery Boxes ............................................................................................. 12-2

12.1.1 Specifications .................................................................................................. 12-2

12.1.2 Battery Box Dimensions .................................................................................. 12-4

12.1.3 Connection Cables for Absolute Encoder ........................................................ 12-5

12.1.4 Battery Box Cords ........................................................................................... 12-7

12.2 Installation ............................................................................................................... 12-8

12.2.1 Connection Examples ...................................................................................... 12-8

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Table of Contents ASDA-A2

12.2.2 How to Install a Battery .................................................................................. 12-12

12.2.3 How to Replace a Battery .............................................................................. 12-13

12.3 System Initialization Procedure and Operation ..................................................... 12-15

12.3.1 System Initialization Procedure ..................................................................... 12-15

12.3.2 Pulse Counting .............................................................................................. 12-16

12.3.3 PUU Counting................................................................................................ 12-17

12.3.4 Use Digital Inputs/Outputs to Initialize an Absolute System .......................... 12-18

12.3.5 Use Parameters to Initialize an Absolute System .......................................... 12-18

12.3.6 Use Digital Inputs/Outputs to Read the Absolute Coordinate Data ............... 12-19

12.3.7 Use Parameter to Read the Absolute Coordinate Data ................................. 12-23

12.4 Related Parameters for Absolute System ............................................................. 12-24

12.5 Digital Input (DI) Function Definition (for Absolute System) .................................. 12-30

12.6 Digital Output (DO) Function Definition (for Absolute System) ............................. 12-31

12.7 Alarms for Absolute System .................................................................................. 12-32

12.7.1 Causes and Corrective Actions ..................................................................... 12-33

12.8 Related Monitoring Variables ................................................................................ 12-35

Appendix A Accessories ..................................................................................................... A-1

Appendix B Maintenance and Inspection .......................................................................... B-1

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ASDA-A2 Table of Contents

About this Manual

User Information

Be sure to store this manual in a safe place.

Due to constantly growing product range, technical improvement and alteration or changed texts,

figures and diagrams, we reserve the right of this manual contained information change without

prior notice.

Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is

prohibited.

Technical Support and Service

Welcome to contact us or visit our web site if you need any technical

support, service and information, or, if you have any question in using the product. We are looking

forward to serve you ne

the following ways.

eds and willing to offer our best support and service to you. Reach us by

xiv Revision February, 2017

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 check 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) A UVW motor power cable, 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) An encoder cable which connects 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 (selective purchase)

(5) 20-PIN connector which is used in CN2 (selective purchase)

(6) 6-PIN connector which is used in CN3 and is for general communication (RS-485)

(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) 7-PIN connector which used in CN7, for extension DI. (-U model) (selective purchase)

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ASDA-A2

(10) Servo drive power input:

220V:

Control circuit power Main circuit power

Chapter 1 Inspection and Model Explanation

100 W ~ 3 kW

405 kW ~ 15 kW

L1c, L2C, fast connector

L1c, L2C, terminal block

R, S, T fast connector

R, S, T terminal block

400V:

Control circuit power Main circuit power

750 W ~ 1.5 kW

2 kW ~ 7.5 kW

DC24V, DC0V, fast connector

DC24V, DC0V, terminal block

R, S, T fast connector

R, S, T terminal block

(11) 3-PIN fast connector (U, V, W)

(12) 3-PIN fast connector (P , D, C)

(13) A plastic lever (for 220V 100 W ~ 3 kW and 400V 750 W ~ 1.5 kW)

(14) A metal short-circuit chip (for 220 V 100 W ~ 4.5 kW and 400 V 750 W ~ 1.5 kW)

(15) An installation manual

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Chapter 1 Inspection and Model Explanation ASDA-A2

1.2 Product Model

1.2.1 Nameplate Information

ASDA-A2 Series Servo Drive

 Nameplate Information

Capacity Specification

Model Name

Applicable power Supply

Rated Current Output

Barcode

Firmware Version

 Serial Number

ECMA Series Servo Motor

 Nameplate Information

MODEL : ASD-A2-0421-L

POWER : 400W

INPUT : 200~230V 3PH 50/60Hz 1.86A

200~230V 1PH 50/60Hz 3.22A

OUTPUT : 110V 0-250Hz 2.6A

A20421LT14130102

01.34

DELTA ELECTRONICS, INC.

LISTED 19XK

IND. CONT. EQ.

MADE IN TAIWAN

 Serial Number

C10602ES T 14 33 0001

Serial Number (Production sequence of a week, starting from 0001)

Week of Production (from 1 to 52)

Year of Production (14: year 2014)

Production Factory (T: Taoyuan; W: Wujiang)

Model Name

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ASDA-A2

1.2.2 Model Explanation

ASDA-A2 Series Servo Drive

ASD-A2-0743-U

Chapter 1 Inspection and Model Explanation

Model Type

Input Voltage and Phase 21: 220V 1 phase 23: 220V 3 phase 43: 400V 3

Rate Output Power 01: 100W 20: 2kW 02: 200W 30: 3kW 04: 400W 45: 4.5kW 07: 750W 55: 5.5kW 10: 1kW 75: 7.5kW 15: 1.5kW 1B: 11kW 1F: 15kW

Series A2

hase

Model Type

Type RS-485

(CN3)

Standard

Model

Network

Model

L O O X X X X O O O X

U O O O X X X O O O O

E X O O O X X X X O O

F O O X X X O X X O X

M O O X X O X O O O O

Full-closed

control

(CN5)*1

Extension

Port for

Digital

Input

(CN7)

EtherCAT CANopen DMCNET Analog

NOTE

1. In PR mode, only A2-F supports full-closed control function.

2. PR parameters can be read and written through communication by DMCNET only.

3. E-cam function can only be used in PR mode.

Product Name AC SERVO Drive

Voltage Control

Pulse

Input

Port

Mode*2

E-Cam*3

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Chapter 1 Inspection and Model Explanation ASDA-A2

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

Keyway (with fixed screw holes)

w/o Brake, w/o Oil Seal

with Brake, w/o Oil Seal

- - C D

E F - -

P Q R S

w/o Brake, with Oil Seal

Rated Power Output 0F:50W 09:900W 50:5.0kW

01:100W 10:1.0kW 55:5.5kW 02:200W 13:1.3kW 75:7.5kW 03:300W 15:1.5kW 1B:11kW 04:400W 18:1.8kW 1F:15kW 05:500W 20:2.0kW 06:600W 30:3.0kW 07:750W 35:3.5kW 08:850W 45:4.5kW

With Brake, with Oil Seal

Servo Type

C Servo

Motor Frame Size

04:40mm 09:86mm 18:180mm 06:60mm 10:100mm 22:220mm 08:80mm 13:130mm

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; J = 400V/3,000 rpm; K = 400V/2,000 rpm; L = 400V/1,500 rpm; M = 400V/1,000 rpm

Encoder Type

1: Incremental, 20-bit 2: Incremental, 17-bit 3: 2500 ppr A: Absolute (Resolution of single cycle: 17-

bit; Resolution of multi-cycle: 16-bit)

Product Name

ECM: Electronic Commutation Motor

Revision February, 2017 1-5

ASDA-A2

Chapter 1 Inspection and Model Explanation

1.3 Servo Drive and Corresponding Servo Motor

1.3.1 220V Series

Motor Servo Drive

Motor series

Low Inertia

Medium Inertia

ECMA-C 3000 r/min

ECMA-E 2000 r/min

Power

Single/Three-

phase

Single/Three-

phase

Output

(W)

100

200

400

750

1000

2000

3000

500

1000

1500

2000

3000

3500

Model Number

ECMA-C1040F□S 0.69 2.05

ECMA-C△0401□S

ECMA-C△0602□S

ECMA-C△0604□S

ECMA-C△0804□7

ECMA-C△0807□S

ECMA-C△0907□S

ECMA-C△0910□S

ECMA-C△1010□S

ECMA-C△1020□S

ECMA-C△1330□4

ECMA-E△1305□S

ECMA-E△1310□S

ECMA-E△1315□S

ECMA-E△1320□S

ECMA-E△1820□S

ECMA-E△1830□S

ECMA-E△1835□S

Rated

Current

(Arms)

0.90 2.70

1.55 4.65

2.60 7.80

5.10 15.30

3.66 11.00

4.25 12.37

7.30 21.90

12.05 36.15

17.2 47.5

2.90 8.70

5.60 16.80

8.30 24.90

11.01 33.03

11.22 33.66

16.10 48.30

19.20 57.60

Max.

Instantaneous

current

(A)

Continuous

Model Number

ASD-A2-0121-□ 0.90 2.70

ASD-A2-0221-□ 1.55 4.65

ASD-A2-0421-□ 2.60 7.80

ASD-A2-0721-□ 5.10 15.30

ASD-A2-1021-□ 7.30 21.90

ASD-A2-2023-□ 13.40 40.20

ASD-A2-3023-□ 19.40 58.20

ASD-A2-0421-□ 2.60 7.80

ASD-A2-1021-□ 7.30 21.90

ASD-A2-1521-□ 8.30 24.90

ASD-A2-2023-□ 13.40 40.20

ASD-A2-3023-□ 19.40 58.20

Output

Current

(Arms)

Max. Instantaneous output current

(A)

ECMA-F△1305□S

ECMA-F△1308□S

ECMA-F△1313□S

ECMA-F△1318□S

ECMA-F△1830□S

ECMA-F△1845□S

3.90 12.10

7.10 19.40

12.60 38.60

13.00 36.00

19.40 58.20

32.50 81.30

ASD-A2-0721-□ 5.10 15.30

ASD-A2-1021-□ 7.30 21.90

ASD-A2-2023-□ 13.40 40.20

ASD-A2-3023-□ 19.40 58.20

ASD-A2-4523-□ 32.50 - -

Medium-high inertia

ECMA-F 1500 r/min

Single/Three-

phase

500

850

1300

1800

3000

4500

5500 ECMA-△F 1855□3 40.00 100.00 ASD-A2-5523-□ 40.00 - -

7500 ECMA-△F 1875□3 47.50 118.80 ASD-A2-7523-□ 47.50 - -

11000 ECMA-F1221B□3 51.80 129.50 ASD-A2-1B23-□ 54.40 - -

15000 ECMA-F1221F□S 61.50 145.70 ASD-A2-1F23-□ 70.00 - -

1-6 Revision February, 2017

Chapter 1 Inspection and Model Explanation ASDA-A2

Motor Servo Drive

Max.

Instanta

neous output

current

(A)

Motor series

High Inertia

Power

Single-

/Three-

phase

ECMA-C/G 3000 r/min

Output

(W)

400

750

300

600

900

Model Number

ECMA-C△0604□H

ECMA-C△0807□H

ECMA-G△1303□S

ECMA-G△1306□S

ECMA-G△1309□S

Rated

Current

(Arms)

2.60 7.80

5.10 15.30

2.50 7.50 ASD-A2-0421-□ 2.60 7.80

4.80 14.40

7.50 22.50

Max.

Instantaneous

current

(A)

Model Number

ASD-A2-0421-□ 2.60 7.80

ASD-A2-0721-□ 5.10 15.30

ASD-A2-1021-□ 7.30 21.90

Continuou

s Output

Current

(Arms)

NOTE

1. The boxes () at the ends of the servo drive model names are for optional configurations. For the actual model name, please refer to the ordering information of the actual purchased product.

2. The boxes (

2: Incremental type, 17-bit; information searching, please contact to your local distributors for actual purchased product.

△

) in the model names are for encoder resolution types. △= 1: Incremental type, 20-bit; △=

△= 3: 2500 ppr; △= A: Absolute type). The listed motor model name is for

3. The boxes () in the model names represents brake or keyway oil seal.

4 *11kw and 15kW will be available soon.

The above table shows the specification of servo drive which has triple rated current. For detailed

specification of the servo motor and servo drive, please refer to Chapter 11.

Revision February, 2017 1-7

ASDA-A2

1.3.2 400V Series

Chapter 1 Inspection and Model Explanation

Motor Servo Drive

Motor

series

Low Inertia

Medium Inertia

Medium-high Inertia

ECMA-J 3000 r/min

ECMA-K 2000 r/min

ECMA-L 1500 r/min

Power

Three-

phase

Three-

phase

Three-

phase

Output

(W)

400

750

1000

2000

3000

750

1000

1500

2000

750

850

1300

3000

4500

5500

7500

Model Number

ECMA-Jᇞ0604 S　 ECMA-Jᇞ0807 S　 ECMA-Jᇞ0907 S　 ECMA-Jᇞ0910 S　 ECMA-Jᇞ1010 S　 ECMA-Jᇞ1020 S　

ECMA-Jᇞ1330 4　 ECMA-Kᇞ1305 S　 ECMA-Kᇞ1310 S　

ECMA-Kᇞ1315 S　 ECMA-Kᇞ1320 S　 ECMA-Kᇞ1820 S　 ECMA-Lᇞ1305 S　 ECMA-Lᇞ1308 S　 ECMA-Lᇞ1313 S　

ECMA-Lᇞ1830 S　

ECMA-Lᇞ1845 S　

ECMA-Lᇞ1855 3　

ECMA-Lᇞ1875 3　

Rated

Current

(Arms)

1.62 4.85

3.07 9.5

2.16 6.37

2.4 7.17

4.15 12.46

7.09 21.28

9.8 29.99

1.7 5.2

3.52 10.56

5.02 15.06

6.66 19.98

6.6 19.88

2.1 6.1

3.4 8.85

5.02 15

11.53 34.6

20.8 52

22.37 56

27.3 68.3

Max.

Instantaneous

current

(A)

Continuous

Model Number

ASD-A2-0743-□ 3.07 9.21

ASD-A2-1043-□ 3.52 9.86

ASD-A2-1543-□ 5.02 10.04

ASD-A2-2043-□ 6.66 18.65

ASD-A2-3043-□ 11.9 33.32

ASD-A2-0743-□ 3.07 9.21

ASD-A2-1043-□ 3.52 9.86

ASD-A2-1543-□ 5.02 10.04

ASD-A2-2043-□ 6.66 18.65

ASD-A2-0743-□ 3.07 9.21

ASD-A2-1043-□ 3.52 9.86

ASD-A2-1543-□ 5.02 10.04

ASD-A2-3043-□ 11.9 33.32

ASD-A2-4543-□ 20 44

ASD-A2-5543-□ 22.04 48.49

ASD-A2-7543-□ 28.39 62.46

Output

Current

(Arms)

Max. Instantaneous output current

(A)

3000 r/min

High Inertia

Three-

phase

ECMA-G 1000

900

ECMA-Mᇞ1309 S　

4.4 13.1

ASD-A2-1543-□ 5.02 10.04

NOTE

1. The boxes () at the ends of the servo drive model names are for optional configurations. For the actual

model name, please refer to the ordering information of the actual purchased product.

2. The boxes ( 2: Incremental type, 17-bit;

information searching, please contact to your local distributors for actual purchased product.

3. The boxes () in the model names represents brake or keyway oil seal.

The above table shows the specification of servo drive which has triple rated current. For detailed

specification of the servo motor and servo drive, please refer to Chapter 11.

△

) in the model names are for encoder resolution types. △= 1: Incremental type, 20-bit; △=

△= 3: 2500 ppr; △= A: Absolute type). The listed motor model name is for

1-8 Revision February, 2017

Chapter 1 Inspection and Model Explanation ASDA-A2

1.4 Each Part of the Servo Drive

1.4.1 220V Series

220V Series - Front View

Revision February, 2017 1-9

ASDA-A2

220V Series - Top View

Chapter 1 Inspection and Model Explanation

1-10 Revision February, 2017

Chapter 1 Inspection and Model Explanation ASDA-A2

220V Series - Bottom View

Revision February, 2017 1-11

ASDA-A2

1.4.2 400V Series

400V Series - Front View

Chapter 1 Inspection and Model Explanation

1-12 Revision February, 2017

Chapter 1 Inspection and Model Explanation ASDA-A2

400V Series - Top View

Revision February, 2017 1-13

ASDA-A2

400V Series - Bottom View

Chapter 1 Inspection and Model Explanation

1-14 Revision February, 2017

Chapter 2 Installation

2.1 Notes

Please pay special attention to the followings:

 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. Please refer to section 3.1.6 for further information.

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 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.

2.3 Ambient Conditions of Installation

The ambient conditions of installing and operating the servo drive:

Location has no over-heat device, no water drop, vapor, dust and oily dust, no corrosive and inflammable gas and liquid, no airborne dust and metal particles, no interference of electromagnetic noise and has solid foundation and no vibration.

The ambient conditions of operating the servo motor:

The ambient temperature is between 0 ℃ and 40 ℃. And the ambient location shall has no overheat device, no water drop, vapor, dust and oily dust, no corrosive and inflammable gas and liquid,

no airborne dust and metal particles.

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.

Revision February, 2017 2-1

ASDA-A2 Chapter 2 Installation

2.4 Installation Direction and Space

Notes:

 Incorrect installation may result in a drive malfunction or premature failure of the drive and

motor.

 The ASDA-A2 servo drive should be mounted perpendicular to the wall or in the control panel.

In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not

obstructed and sufficient free space is given to the servo drive. Do not install the drive in a

horizontal position or malfunction and damage will occur.

 Do not parallel connect the servo drive, or it might burn out the soft-start resistance or the

commutator and danger will occur.

2-2 Revision February, 2017

Chapter 2 Installation ASDA-A2

Scheme of Installation:

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

Revision February, 2017 2-3

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

ASDA-A2 Chapter 2 Installation

NOTE

2-4 Revision February, 2017

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

Chapter 2 Installation ASDA-A2

2.5 Specification of Circuit Breaker and Fuse

220V Series

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-A2-0121- 5A 5A

ASD-A2-0221- 5A 5A

ASD-A2-0421- 10A 10A

ASD-A2-0721- 10A 20A

ASD-A2-1021- 15A 25A

ASD-A2-1521- 20A 40A

ASD-A2-2023- 30A 50A

ASD-A2-3023- 30A 70A

ASD-A2-4523- 70A 140A

ASD-A2-5523- 75A 150A

ASD-A2-7523- 95A 175A

ASD-A2-1B23- - -

ASD-A2-1F23- - -

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

NOTE

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

400V Series

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-A2-0743- 10A 20A

ASD-A2-1043- 15A 25A

ASD-A2-1543- 20A 40A

ASD-A2-2043- 30A 50A

ASD-A2-3043- 30A 70A

ASD-A2-4543- 70A 140A

ASD-A2-5543- 75A 150A

ASD-A2-7543- 95A 175A

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

NOTE

Revision February, 2017 2-5

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

ASDA-A2 Chapter 2 Installation

2.6 EMI Filter Selection

220V Series

Recommended EMI Filter

Item Power Servo Drive Model

1PH 3PH

1 100W ASD-A2-0121- RF007S21AA RF022B43AA N

2 200W ASD-A2-0221- RF007S21AA RF022B43AA N

3 400W ASD-A2-0421- RF007S21AA RF022B43AA N

4 750W ASD-A2-0721- RF007S21AA RF037B43BA N

5 1.0kW ASD-A2-1021- RF007S21AA RF037B43BA N

6 1.5kW ASD-A2-1521- RF007S21AA RF037B43BA N

7 2.0kW ASD-A2-2023- - RF037B43BA N

8 3.0kW ASD-A2-3023- - RF037B43BA N

9 4.5kW ASD-A2-4523- - RF075M43BA N

FootPrint

10 5.5kW ASD-A2-5523- - RF075M43BA Y

11 7.5kW ASD-A2-7523- - 30TDRT1W4 Y

12 11.0kW ASD-A2-1B23- - 50TDS4W4C -

13 15.0kW ASD-A2-1F23- - 50TDS4W4C -

400V Series

Item Power Servo Drive Model Recommended EMI Filter FootPrint

1 750W ASD-A2-0743- RF007S43AA N

2 1000W ASD-A2-1043- RF007S43AA N

3 1500W ASD-A2-1543- RF022B43AA N

4 2000W ASD-A2-2043- RF037B43BA N

5 3000W ASD-A2-3043- RF037B43BA N

6 4500W ASD-A2-4543- RF075M43BA N

7 5500W ASD-A2-5543- RF075M43BA Y

8 7500W ASD-A2-7543- RF075M43BA Y

2-6 Revision February, 2017

Chapter 2 Installation ASDA-A2

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. It is suggested to use Delta’s EMI Filter to suppress the interference better.

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

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.

Revision February, 2017 2-7

ASDA-A2 Chapter 2 Installation

Motor Cable Selection and Installation Precautions

The selection of motor cables and 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 figure 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 Ushape saddle and metal plate. Please see figure 2 for the correct connection.

Saddle on both ends

Figure 1

Saddle on one end

Figure 2

2-8 Revision February, 2017

Chapter 2 Installation ASDA-A2

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.

Specification of built-in regenerative resistor provided by ASDA-A2 220V Series

Servo Drive

(kW)

Specification of built-in regenerative

resistor

Resistance

(P1-52) (Ohm)

Capacity

(P1-53) (Watt)

*1The capacity of built-

in regenerative resistor

(Watt)

Minimum allowable

resistance (Ohm)

0.1 - - - 30

0.2

0.4

- - - 30

40 40 20 30

0.75 40 60 30 20

1.0 40 60 30 20

1.5 40 60 30 20

2.0 20 100 50 10

3.0 20 100 50 10

4.5 20 100 50 10

5.5 - - - 8

7.5 - - - 5

11 - - - 8

15 - - - 5

Specification of built-in regenerative resistor provided by ASDA-A2 400V Series

Specification of built-in regenerative

Servo Drive

(kW)

Resistance

(P1-52) (Ohm)

resistor

(P1-53) (Watt)

Capacity

Minimum allowable

resistance (Ohm)

0.75 80 100 60

1.0 80 100 60

1.5 80 100 40

2.0 - - 40

3.0 - - 30

4.5 - - 20

5.5 - - 20

7.5 - - 15

Revision February, 2017 2-9

ASDA-A2 Chapter 2 Installation

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 regenerative resistor. Or it might influence the performance of this function.

2. If users desire to use the external regenerative resistor, please make sure the applied value should not smaller than the built-in regenerative resistor. In general application, more than one resistor will be serial connected. If the value (from serial connected resistors) exceeds the setting range, users can reduce the value by parallel connecting the resistor. If users desire to connect it in parallel to increase the power of regenerative resistor, please make sure the capacitance meets the requirements.

Please refer to the followings for the calculation when serial / parallel connecting regenerative resistors:

Setting: P1-52=10 (Ω) P1-53=1000 (W)

Setting: P1-52=20 (Ω) P1-53=2000 (W)

Setting: P1-52=5 (Ω) P1-53=2000 (W)

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.

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 according to the selected linear motor or rotary motor.

2-10 Revision February, 2017

Chapter 2 Installation ASDA-A2

(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.

220V

Servo Drive

(kW)

0.1

0.2

0.4

Low

Inertia

0.4

0.75

1.0

2.0

3.0

0.4

Motor

ECMA-C△040F

ECMA-C△0401

ECMA-C△0602

ECMA-C△0604

ECMA-C△0804

ECMA-C△0807

ECMA-C△1010

ECMC-C△0910

ECMA-C△1020

ECMA-C△1330

ECMA-E△1305

The maximum

regenerative power of

capacitance

Ec (joule)

Rotor Inertia

J (× 10-

4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

0.021 0.10 4.21

0.037 0.18 4.21

0.177 0.87 5.62

0.277 1.37 8.42

0.68 3.36 8.42

1.13 5.59 17.47

2.65 13.10 21.22

2.62 12.96 21.22

4.45 22.0 25.58

12.7 62.80 25.58

8.17 40.40 8.42

Medium

Inertia

Medium

–High

Inertia

ECMA-E△1310

1.0

ECMA-E△1315

1.5

ECMA-E△1320

2.0

ECMA-E△1820

2.0

ECMA-E△1830

3.0

ECMA-E△1835

3.0

ECMA-F△1308

1.0

ECMA-F△1313

2.0

ECMA-F△1318

2.0

ECMA-F△1830

3.0

ECMA-F△1845

4.5

ECMA-F△1855

5.5

ECMA-F△1875

7.5

8.41 41.59 21.22

11.18 55.29 25.58

14.59 72.15 25.58

34.68 171.49 25.58

54.95 271.73 31.20

13.6 67.25 21.22

20.0 98.90 25.58

24.9 123.13 31.20

54.95 271.73 28

77.75 384.48 25

99.78 493.42 27

142.7 705.66 93

Revision February, 2017 2-11

ASDA-A2 Chapter 2 Installation

Servo Drive

(kW)

Medium

11.0

ECMA- F△221B

Motor

–High

ECMA- F△221F

Inertia

High

Inertia

15.0

ECMA-G△1303

0.4

ECMA-F△1305

0.75

ECMA-G△1306

0.75

ECMA-G△1309

1.0

Eo= J * wr2/182 (joule), Wr: r/min

400V

Servo Drive

(kW)

Motor

The maximum

regenerative power of

capacitance

Ec (joule)

Rotor Inertia

J (× 10-

4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

329.0 723.08 117

553.0 1215.38

156

8.17 17.96 8.42

10.3 22.64 17.47

8.41 18.48 17.47

11.18 24.57 21.22

The maximum

regenerative power

of capacitance

Ec (joule)

Rotor Inertia

J (× 10-

4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

Low

Inertia

Medium

Inertia

ECMA-J△0604

0.75

ECMA-J△0807

0.75

ECMA-J△0907

0.75

ECMA-J△1010

1.0

ECMA-J△1010

1.5

ECMA-J

2.0

ECMA-K△1305

0.75

ECMA-K△1310

1.0

ECMA-K△1315

1.5

ECMA-K△1320

2.0

ECMA-K△1820

2.0

△1020

0.277 1.37 42.43

1.13 5.59 42.43

1.93 9.54 42.46

2.65 13.10 42.43

4.45 22.01 42.43

8.17 40.40 51.17

8.41 41.59 51.17

11.18 55.29 57.41

14.59 72.15 34.94

34.68 171.49 34.94

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Chapter 2 Installation ASDA-A2

Servo Drive

(kW)

0.75

1.5

3.0

ECMA-L△1305

ECMA-L△1313

ECMA-L△1830

Motor

Medium

–High

Inertia

High

Inertia

3.0

4.5

5.5

7.5

1.0

1.5

ECMA-J△1330

ECMA-L△1845

ECMA-L△1855

ECMA-L△1875

ECMA-L△1308

ECMA-M△1309

Eo= J * wr2/182 (joule), Wr: r/min

The maximum

regenerative power of

capacitance

Ec (joule)

Rotor Inertia

J (× 10-

4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

13.1 16.20 42.43

23.6 29.18 42.43

54.95 67.93 42.43

12.7 15.70 42.43

77.75 96.12 51.17

99.78 123.35 57.41

142.7 176.41 62.40

17.1 84.56 42.43

11.18 55.29 57.41

Assume that the load inertia is N times to the motor inertia and the motor decelerates from 3000r/min to 0, its regenerative energy is (N+1) x Eo. The consumed regenerative resistor is (N+1) × Eo - Ec joule. If the cycle of back and forth operation is T sec, then the power of regenerative resistor it needs is 2× ((N+1) x Eo - Ec) / T.

Followings are the calculation procedure:

Steps Item Calculation and Setting Method

Set the capacity of regenerative

resistor to the maximum

Set T cycle of back and forth

operation

Set P1-53 to the maximum value

Enter by the user

3 Set the rotational speed wr Enter by the user or read via P0-02

4 Set the load/motor inertia ratio N Enter by the user or read via P0-02

Calculate the maximum regenerative

Set the absorbable regenerative

Calculate the needful capacitance of

energy Eo

energy Ec

regenerative resistor

Eo= J * wr2/182

Refer to the above table

2 x ((N+1) x Eo – Ec) / T

Revision February, 2017 2-13

ASDA-A2 Chapter 2 Installation

Take 400W as the example, the cycle of back and forth operation is T = 0.4sec, the maximum speed is 3000r/min and the load inertia is 7 times to the motor inertia. Then, the needful power of

regenerative resistor is 2 × ((7+1) × 1.68 – 8) / 0.4 = 27.2 W. If it is smaller than the built-in capacity of regenerative resistor, the built-in 60W regenerative resistor will do. Generally speaking, when

the need of the external load inertia is not much, the built-in regenerative is enough. The diagram below describes the actual operation. The smaller power of the regenerative resistor it is, the more energy it accumulates and the higher temperature it will be. When the temperature is higher than a specific value, ALE05 occurs.

(b) If the external load torque exists, the motor is in reverse rotation.

Usually, the motor is in forward rotation, which means the torque output direction of the motor is the same as the rotation direction. However, in some applications, the direction of torque output is different from the rotation. In this situation, the motor is in reverse rotation. The external energy goes into the servo drive through the motor. The diagram below is one example. When the external force direction is the same as the moving direction, the servo system has to use the force of the opposite direction to keep the speed and stability. Huge amount of energy will return to the servo drive at the moment. When DC-BUS is full and unable to store the regenerative energy, the energy will be leaded to regenerative resistor and consumed.

馬達轉速

Motor Speed

External Load Torque

外部負載扭矩

Motor Output Torque

馬達輸出扭矩

馬達輸出負功正功負功

Negative Torque

Torque

Negative Torque Positive

正功

Positive

Negative torque: TL × Wr TL: external load torque

For safety reasons, please calculate it by considering the safest situation.

For example, when the external load torque is the +70% rated torque and the rotation reaches 3000 r/min, then take 400 W (the rated torque is 1.27 Nt-m) as the example, the

user has to connect the regenerative resistor of 40, which is 2 × (0.7× 1.27) × (3000 × 2 × π／

60) = 560W.

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Chapter 2 Installation ASDA-A2

(2) Simple Selection

Choose the appropriate regenerative resistor according to the allowable frequency and empty load frequency in actual operation. The so-called empty allowable frequency is the frequency of continuous operation when the servo motor runs from 0r/min to the rated speed and then decelerates from the rated speed to 0r/min within the shortest time. The following table lists the allowable frequency when the servo drive runs without load (times/min).

Allowable frequency when the servo motor runs without load (times/min)

and uses a built-in regenerative resistor

1.0

1.5

2.0 kW

(F100)

(F130)

Motor Capacity

Servo Motor

600W 750W 900W

06 07 09 10 15 20 20 30 45 55 75 1B 1F

ECMAC - 312 - 137 -

ECMAE - - - 42 32

ECMAF - - - - - - - 11 8 - - - -

ECMAG 42 - 31 - - - - - - - - - -

ECMAJ - 537 - - - - - - - - - - -

ECMAK - - - 162 122 - - - - - - - -

ECMAL - - - - - - - - - - - - -

2.0

3.0

4.5

5.5

7.5

11.0

15.0

- - - - - - -

(F180)

11 - - - - -

When the servo motor runs with load, the allowable frequency will be different according to different load inertia or speed. The following is the calculation method.

m represents load / motor inertia ratio.

Allowable fr equency =

Allowable frequency when servo motor run without load

m + 1

Rated speed

Operating speed

The comparison table of external regenerative resistor is provided below. Please choose the appropriate regenerative resistor according to the allowable frequency.

The table below describes the suggested allowable frequency (times/min) of regenerative resistor when the servo drive runs without load.

Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)

ECMAC

Motor Capacity

100W 200W

Corresponding Motor

01 02 04 04 07 10 20

BR400W040 (400W 40Ω) - - 8608 3506 2110 925 562

BR1K0W020 (1kW 20Ω) - - - 8765 5274 2312 1406

400W

(F60)

400W

(F80)

750W 1.0kW 2.0kW

times

min.

Revision February, 2017 2-15

ASDA-A2 Chapter 2 Installation

ECMAE

Motor Capacity

0.5kW 1kW 1.5kw

Corresponding Motor

05 1.0 15 20 20 30

BR400W040 (400W 40Ω) 291 283 213 163 68 -

BR1K0W020 (1kW 20Ω) 729 708 533 408 171 -

BR1K5W005*2 (3kW 10Ω) - - - - - 331

2.0kW (F130)

2.0kW

(F180)

3.0kW

ECMAF

Corresponding Motor

BR1K5W005*2 (3kW 10Ω) 331 234 182 127 124 74

Motor Capacity

3.0KW 4.5KW 5.5KW 7.5kW 11.0kW 15.0kW

30 45 55 75 1B 1F

Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)

Motor Capacity

Corresponding Motor

BR400W040 (400W 40Ω) 292 283 213

BR1K0W020 (1kW 20Ω) 729 708 533

0.3kW 0.6kW 0.9kW

03 06 09

ECMAG

ECMAK

Motor Capacity

Corresponding Motor

BR400W040 (400W 40Ω) - 488 665

1.0kW 1.5kW 2.0kW

10 15 20

Motor Capacity

3.0KW 4.5KW 5.5KW 7.5kW

Corresponding Motor

BR400W040 (400W 40Ω) 177 - - -

BR1K0W020 (1kW 20Ω) - 312 243 170

30 45 55 75

ECMAL

If watt is not enough when using regenerative resistor, connecting the same regenerative

resistor in parallel can increase the power.

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Chapter 2 Installation ASDA-A2

Dimensions of Regenerative Resistor

Delta Part Number：BR400W040 (400W 40Ω)

L1 L2 H D W MAX. WEIGHT (g)

265 250 30 5.3 60 930

Delta Part Number：BR1K0W020 (1kW 20Ω)

L1 L2 H D W MAX. WEIGHT (g)

400 385 50 5.3 100 2800

Revision February, 2017 2-17

ASDA-A2 Chapter 2 Installation

Delta Part Number：BR1K5W005 (3kW 10Ω)

2-18 Revision February, 2017

Chapter 3 Wiring

This chapter provides information on wiring ASDA-A2 series products, the descriptions of I/O

signals and gives typical examples of wiring diagrams.

3.1 Connections - 220V series

3.1.1 Connecting to Peripheral Devices

Power

100W~1.5kW Single-/Three-phase 200~230V 2kW~15kW Three-phase 200~230V

No Fuse Breaker (NFB)

Installing a NFB can prevent excessive current may arise due to short-circuit or flow when power on and off, so as to avoid the damage on the servo drive

Elec trom agnetic

Cont act or (M C)

Rege nerative

Resistor (Option)

The returned regenerative power generated when braking may result in damage. Thus, external resistor is recommended. Connec t the external resistor to P and C, and ensure an open circuit between P and D. When applying internal resistor, ensure t he c ircuit is close between P and D, and the circuit is open between P and C.

CN5 C onnec tor (Optio n)

For full-closed loop or linear scale c onnection CN5: For ASDA-A2-L, -M, -U (Please refer to the description of section 1.2.2)

CN6 C onnec tor (Optio n)

CN6: For ASDA-A2-M only (Please refer to the description of section 1.2.2)

CN7 Connect or (Optio n)

CN7: For ASDA-A2-U only (Please refer to the description of section 1.2.2)

P,D,C

L1c,L2c,Θ,R,S,T

Motor power

out put

Host Controller

It can connect to Delta PLC controller or other brands of NC controllers.

CN1 I/O

Conn ector

CN2 C onnec tor

CN4 C onnec tor (Optio n)

1. Connect to personal computer via USB cable

2. Use ASDA-SOFT for tuning, parameter setting and control.

Terminal Block Module (ASD-BM-50A)

(Option)

Transmit the signal from CN1 50pin to the controller via this block module.

CN3 C onnector

(Option)

Use MODBUS

communication to support

RS-485/RS232

Servo Motor

Revision February, 2017 3-1

Chapter 3 Wiring ASDA-A2

NOTE

Installation notes:

1. Check if the power and wiring among R, S, T and L1c, L2c are correct.

Please refer to Chapter 11 for Specifications. Make sure the input voltage is correct, or it might damage the servo drive or danger may occur.

2. Please check if the output terminal U, V, W of the servo motor is correctly wired. The incorrect wiring may disable the operation of the motor or cause malfunction.

3. When applying to the external regenerative resistor, the contact between P

and D should be opened and the external regenerative resistor should connect to terminal P and C. When applying to the internal regenerative resistor, the contact between P and D should be closed and the contact between P and C should be opened.

4. When an alarm occurs or the system is in emergency stop status, use ALARM or WARN to output and disconnect the power of magnetic contactor in order to disconnect the power of servo drive.

3.1.2 Connectors and Terminals of Servo Drive

Terminal

Signal

Name Description

L1c, L2c

R, S, T

U, V, W

Power input of the control circuit

Power input of the main circuit

Motor cable

Connect to single-phase AC power (select the appropriate voltage specification according to the product )

Connect to three-phase AC power (select the appropriate voltage specification according to the product)

Connect to the servo motor

Terminal

Symbol

U Red

V White

W Black

Wire Color Description

Three-phase main power cable of the motor.

Connect to ground

FG Green

terminal (

) of the

servo drive.

The contact between P and D

Internal resistor

end should be closed; contact between P and C end should be opened.

Connect P , C ends to the resistor

P, D,

Regenerative resistor terminal or braking unit

External resistor

and the contact between P and D end should be opened.

P and P of the brake unit

External braking unit

should connect to P and P respectively. The contact between P and D and P and C should be opened.

3-2 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

Connect to the ground wire of power and servo motor.

Connect to the host controller. Please refer to section 3.4.

Connect encoder of the motor. Please refer to section 3.5.

Connect to RS-485 or RS-232. Please refer to section 3.6.

Connect to personal computer (PC or notebook). Please refer to section 3.7.

CN1

CN2

CN3

CN4

Ground terminal

I/O connector (Option)

Connector (Option)

Connector Option)

USB connector (Type B) (Option)

Connect to linear scale or encoder for full-closed

CN5

Connector (Option)

loop and motor feedback. Please refer to section

3.8.

CN6

CN7

CN8

CANopen connector (Option) RJ45 connector. Please refer to section 3.9.

Extension digital input connector (Option)

Extension DI connector. Please refer to section

3.10.

Battery connector Connector for absolute type of battery box

Pay special attention to the followings when wiring:

1. When the power is cutoff, do not touch R, S, T and U, V, W since the capacitance inside the

servo drive still contains huge amount of electric charge. Wait until the charging light is off.

2. Separate R, S, T and U, V, W from the other wires. The interval should be at least 30 cm

(11.8 inches).

3. If the wire of encoder CN2 or CN5 connecter is not long enough, please use shielded twisted-

pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds 20 meters, please

choose the bigger wire diameter of signal cable to ensure it will not cause signal fading. As

for the encoder wiring specification of 20-meter-long cable, please use AWG26 of wire size

and metal braided shield twisted-pair cable which complies with the standard of UL 2464.

4. When using CANopen, please use the standard shielded twisted-pair cables to ensure the

communication quality.

5. When selecting the wire rod, please refer to Section 3.1.6.

6. Do not install the plug-in capacitance in servo drive. It might burn out the soft-start resistance

and danger will occur.

Revision February, 2017 3-3

Chapter 3 Wiring ASDA-A2

3.1.3 Wiring Method

The wiring method of 220V servo drive is divided into single-phase and three-phase. In the

diagram below, Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of

magnetic contactor and self-remaining power and is the contact of main power circuit.

 Wiring Method of Single-phase Power Supply (suitable for 1.5 kW and models below 1.5

kW)

Noise Filter

MCCB

Power OnPower

Off

Servo Drive

L1C

L2C

SUP

ALRM_RY

CN1

DO5+(28)

DO5-(27)

Motor

DC24V

ALRM_RY

3-4 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

 Wiring Method of Three-phase Power Supply (suitable for all series)

Revision February, 2017 3-5

Chapter 3 Wiring ASDA-A2

3.1.4 Specification of Motor Power Cable

Motor Model U, V, W / Connector of Brake

ECMA-C1040FS (50W) ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C

△

0401S (100W)

△

0602S (200W)

△

0604S (400W)

△

0604H (400W)

△

08047 (400W)

△

0807S (750W)

△

0807H (750W)

△

0907S (750W)

△

0910S (1000W)

ECMA-C1040FS (50W)

△

ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C

0401S (100W)

△

0602S (200W)

△

0604S (400W)

△

08047 (400W)

△

0807S (750W)

△

0907S (750W)

△

0910S (1000W)

* : with brake

Terminal

Definition

ECMA-G△1303S (300W) ECMA-E ECMA-F ECMA-G ECMA-F ECMA-G ECMA-C ECMA-E ECMA-F ECMA-E

△

1305S (500W)

△

1305S (500W)

△

1306S (600W)

△

1308S (850W)

△

1309S (900W)

△

1010S (1000W)

△

1310S (1000W)

△

1313S (1300W)

△

1315S (1500W)

ECMA-F△1318S (1800W)

ECMA-C ECMA-E ECMA-C

△

1020S (2000W)

△

1320S (2000W)

△

13304 (3000W)

ECMA-E△1820S (2000W)

△

ECMA-E ECMA-F ECMA-E ECMA-F

1830S (3000W)

△

1830S (3000W)

△

1835S (3500W)

△

1845S (4500W)

3-6

Revision February, 2017

ASDA-A2 Chapter 3 Wiring

Motor Model U, V, W / Connector of Brake

ECMA-F△18553 (5500W)

△

ECMA-F

18753 (7500W) ECMA-F1221B3 (11kW) ECMA-F1221FS (15kW)

ECMA-F218553(5500W) ECMA-F218753(7500W)

Wiring

Name

(Red) V (White) W (Black)

10SL-4S

3106A-10SL-4S

CASE GROUND

(Green)

BRAKE1

(Yellow)

Terminal

Definition

BRAKE2

(Blue)

A 1 2 3 4 - -

B 1 2 4 5 3 6

C F I B E G H

D D E F G A B

E A B C D - -

Wiring Name BRAKE1 BRAKE2

F A B

When selecting the wire rod, please choose 600V PVC cable and the length should not longer than 30m. If the length exceeds 30m, please take the received voltage into consideration when selecting the wire size. Please refer to Section 3.1.6 for wire rod selection.

NOTE

1) No polarity for brake coil, the wiring name is BRAKE1 & BRAKE2.

2) Power for brake is DC24 V. Never share it with the power of control signal VDD.

3) Box, (△) in servo motor model represents encoder type. △= 1: incremental, 20-bit; △= 2: incremental, 17-bit; △ = 3: 33-bit; △= A: absolute.

4) Box, () in servo motor model represents brake or keyway / oil seal.

Revision February, 2017 3-7

Chapter 3 Wiring ASDA-A2

3.1.5 Specification of Encoder Cable Connector

Encoder Connection (Diagram 1)

NOTE

Motor Model Connector of Encoder Cable

ECMA-C1040F (50W) ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C ECMA-C

△

0401S (100W)

△

0602S (200W)

△

0604S (400W)

△

0604H (400W)

△

08047 (400W)

△

0807S (750W)

△

0807H (750W)

△

0907S (750W)

△

0910S (1000W)

This diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model.

1) Please refer to the Section of Specification and Definition of Encoder Connector.

2) Please refer to Section 3.5 CN2 Connector.

View from

this side

View from

this side

3-8 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

Specification and Definition of Encoder Connector:

Connector of

Encoder Cable

Housing : AMP(1-172161-9)

Connector of

Motor Encoder

Servo Drive

CN2

Servo Drive

CN2

View from this side

123

Blue

Reserved

T+

Reserved

456

Blue/Black

Reserved Reserved

T-

789

Red/Red &

DC+5V GND

The wire color of the servo drive is for reference only. Please refer to the real object.

white

Black/Black

& white

Shield

33 44

‧ ‧ ‧

View from

this side

(Encoder type is 17bit , 20bit):

Reserved

Shield

Blue Brown

(Encoder type is 2500ppr, 33bit):

Reserved Reserved

Shield

Blue

Motor

Encoder

White

T+

White/Red

T-

DC+5VGND

White

T+

White/Red

T-

Brown

DC+5VGND

Motor

Encoder

If not using housing and directly wire the cores, please follow the corresponding core number for wiring. For example, core number 1 from the servo drive CN2 should connect to core number 1 from the motor encoder; core number 2 from the servo drive CN2 should connect to core number 2 from the motor encoder and so on. Please number the cores from the servo drive in order and then connect it to the encoder.

Revision February, 2017 3-9

Chapter 3 Wiring ASDA-A2

Encoder Connection (Diagram 2):

NOTE

Please refer to Section 3.5, CN2 Connector.

Motor Model Connector of Encoder Cable

ECMA-G△1303S (300W)

△

ECMA-E ECMA-F ECMA-G ECMA-F ECMA-G ECMA-C ECMA-E ECMA-F ECMA-E ECMA-F ECMA-C ECMA-E ECMA-E ECMA-C ECMA-E

1305S (500W)

△

1305S (500W)

△

1306S (600W)

△

1308S (850W)

△

1309S (900W)

△

1010S (1000W)

△

1310S (1000W)

△

1313S (1300W)

△

1315S (1500W)

△

1318S (1800W)

△

1020S (2000W)

△

1320S (2000W)

△

1820S (2000W)

△

13304 (3000W)

△

1830S (3000W)

No.

Terminal

Identification

Color

A T+ Blue

B T -

S DC+5V

Blue&

Black

Red/Red

&White

Black/

R GND

Black&

White

BRAID

SHIELD

–

3-10 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

ECMA-F△1830S (3000W)

△

ECMA-E ECMA-F ECMA-F ECMA-F

1835S (3500W)

△

1845S (4500W)

△

18553 (5500W)

△

18753 (7500W) ECMA-F1221B3 (11kW) ECMA-F1221FS (15kW)

Please select shielded multi-core and the shielded cable should connect to the SHIELD end. Please refer to the description of Section 3.1.6.

△

NOTE

1) Box, ( 20-bit;

) in servo motor model represents encoder type. △= 1: incremental,

△

= 2: incremental, 17-bit; △ = 3: 2500ppr; △ = A: absolute.

2) Box, () in servo motor model represents brake or keyway / oil seal.

Revision February, 2017 3-11

Chapter 3 Wiring ASDA-A2

3.1.6 Selection of Wiring Rod

The recommended wire rods are shown as the following table.

Servo Drive and corresponding Servo Motor

ECMA-C1040FS

ASD-A2-0121-

ECMA-C△0401S

ASD-A2-0221- ECMA-C△0602S

ECMA-C

△

0604S

ECMA-C△0604H

ASD-A2-0421-

ECMA-C△08047

ECMA-E△1305S

ECMA-G△1303S

ECMA-F

△

1305S

ECMA-C△0807S

ASD-A2-0721-

ECMA-C△0807H

ECMA-C△0907S

ECMA-G△1306S

ECMA-C

△

0910S

Power Wiring - Wire Diameter mm2 (AWG)

L1c, L2c R, S, T U, V, W P, C

1.3

(AWG16)

2.1

(AWG14)

0.82

(AWG18)

2.1

(AWG14)

ECMA-C△1010S

ASD-A2-1021-

ECMA-E△1310S

ECMA-F△1308S

ECMA-G△1309S

ASD-A2-1521-

ECMA-E

ECMA-C

△

1315S

△

1020S

ECMA-E△1320S

ASD-A2-2023-

ECMA-E△1820S

ECMA-F△1313S

ECMA-F△1318S

△

ECMA-C

1330S

ECMA-E△1830S

ASD-A2-3023-

ECMA-E△1835S

ECMA-F△1830S

ASD-A2-4523- ECMA-F△1845S

1.3

(AWG16)

1.3

(AWG16)

1.3

(AWG16)

1.3

(AWG16)

2.1

(AWG14)

2.1

(AWG14)

2.1

(AWG14)

3.3

(AWG12)

1.3

(AWG16)

2.1

(AWG14)

3.3

(AWG12)

8.4 (AWG8)

2.1

(AWG14)

2.1

(AWG14)

2.1

(AWG14)

3.3

(AWG12)

ASD-A2-5523- ECMA-F△18553

ASD-A2-7523- ECMA-F△18753

3-12 Revision February, 2017

1.3

(AWG16)

1.3

(AWG16)

3.3

(AWG12)

5.3

(AWG10)

13.3

(AWG6)

13.3

(AWG6)

3.3

(AWG12)

3.3

(AWG12)

ASDA-A2 Chapter 3 Wiring

ASD-A2-1B23- ECMA-F1221B3

ASD-A2-1F23- ECMA-F1221FS

Servo Drive Model

ASD-A2-0121-

ASD-A2-0221-

ASD-A2-0421-

ASD-A2-0721-

ASD-A2-1021-

ASD-A2-1521-

ASD-A2-2023-

ASD-A2-3023-

ASD-A2-4523-

Size Number Specification Standard Length

0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

1.3

(AWG16)

1.3

(AWG16)

8.4

(AWG8)

13.3

(AWG6)

13.3

(AWG6)

21.2

(AWG4)

Encoder Wiring - Wire Diameter mm2 (AWG)

8.4 (AWG8)

13.3

(AWG6)

ASD-A2-5523-

ASD-A2-7523-

ASD-A2-1B23-

ASD-A2-1F23-

NOTE

1) Please use shielded twisted-pair cable for encoder wiring so as to reduce the interference of the noise.

2) The shield should connect to the

3) Please follow the Selection of Wire Rod when wiring in order to avoid the danger it may occur.

4) Box, () at the end of the servo drive model represents the model code of ASDA-A2. Please refer to the model information of the product you purchased.

△

5) ( incremental type, 17, bit;

6) Box, () in servo motor model represents brake or keyway / oil seal.

phase of SHIELD.

), in servo motor model represents encoder type. △= 1: incremental type, 20-bit; △= 2:

△

= 3: 2500 ppr; △= A: absolute type.

Revision February, 2017 3-13

Chapter 3 Wiring ASDA-A2

3.2 Connections - 400V series

3.2.1 Connecting to Peripheral Devices

Power

750W~15kW Three-phase 380~480V±10%

No Fuse Breaker (NFB)

Installing a NFB can prevent excessive current may arise due to short-circuit or flow when power on and off, so as to avoid the damage on the servo drive.

Elec trom agnetic

Contactor ( MC)

If an alarm occurs, using ALARM digital output can control electromagnetic contactor and cut off the power of the servo drive.

Rege ne rative

Resistor (Option)

The returned regenerative power generated when braking may result in damage. Thus, external resistor is recommended. Connect the external resistor to P and C, and ensure an open circuit between P and D. When applying internal resistor, ensure the circuit is close between P and D, and the circuit is open between P and C.

CN5 C onn ect or (Optio n)

For full-closed loop or linear scale connection CN5: For ASDA-A2-L,-M, and -U (Please refer to the description of section 1.2.2)

CN6 C onnector (Op tion)

CN6:

For ASDA-A2-M (Pleas e refer to

the description of section 1.2.2)

P,D,C

R,S,T

Power

DC24 V±10%

DC24V

,DC0V

Host Controller

It can connect to Delta PLC controller or other brands of NC controllers.

CN1 I/O

Conn ector

CN2 C onn ect or

Terminal Black Module

(ASD-BM-50A) (Option)

Transmit the signal from CN1 50pin to the controller via this block module.

CN3 C onn ect or

(Option)

Use MODBUS

communication to

support RS-485/RS232

CN7 C onn ect or (Optio n)

CN7: For ASD A-A2-U(Ple ase refer to the description of section 1.2.2)

Motor Power

Outp ut

CN4 C onn ect or (Optio n)

1. Connect to personal computer via USB cable

2. Use ASDA-SOFT for tuning, parameter setting and control.

Servo Motor

3-14 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

Installation Notes:

1. Check if the power and wiring among R, S, T and DC24V, DC0V are correct.

Please refer to Chapter 11 for Specifications. Make sure the input voltage is correct, or it might damage the servo drive or danger may occur.

2. Check if the output terminal U, V, W of the servo motor is correctly wired. The incorrect wiring

may disable the operation of the motor or cause the malfunction.

3. When applying to the external regenerative resistor, the contact between P and D should be

opened and the external regenerative resistor should connect to terminal P and C. When applying to the internal regenerative resistor, the contact between P and D should be closed and the contact between P and C should be opened.

4. When an alarm occurs or the system is in emergency stop status, use ALARM or WARN to

output and disconnect the power of magnetic contactor in order to disconnect the power of servo drive.

Revision February, 2017 3-15

Chapter 3 Wiring ASDA-A2

3.2.2 Connectors and Terminals of the Servo Drive

Terminal Signal Name Description

DC24V, DC0V

R, S, T

U, V, W

FG (

)

Power input of the control circuit

Power input of the main circuit

Motor cable

Connect to single-phase AC power (select the appropriate voltage specification according to the product )

Connect to three-phase AC power (select the appropriate voltage specification according to the product)

Connect to servo motor

Terminal

Symbol

U Red

V White

W Black

Wire Color Description

Three-phase main power cable of the motor

Connect to the

FG( )

Green

grounding

of the

servo drive.

The contact between P and D end

Internal resistor

should be closed; contact between P and C end should be opened.

External resistor

Connect P , C ends to the resistor and the contact between P and D end should be opened.

P , D, C,

CN1

CN2

CN3

CN4

Regenerative resistor terminal or braking unit

Ground terminal

I/O connector (Option)

Connector (Option)

USB connector (Type B) (Option)

P and P of the brake unit should connect to P and P respectively. The contact between P and D and P and C should be opened. (N

External braking unit

terminal is built in L1C, L2C, and R, S, T.)

P : Connect (+) terminal of V_BUS

voltage.

: Connect to (-) terminal of

V_BUS voltage.

Connect to the ground wire of the power and the servo motor.

Connect to the host controller, please refer to Section

3.4.

Connect to the encoder of the motor, please refer to Section 3.5.

Connect to RS-485 or RS-232, please refer to Section

3.6

Connect to personal computer (PC or NOTEBOOK), please refer to Section 3.7

CN5

3-16 Revision February, 2017

Connector (Option)

Connect to linear scale or encoder for full-closed loop and motor feedback. Please refer to Section 3.8.

ASDA-A2 Chapter 3 Wiring

CN6

CN7

CN8

CANopen connector (Option)

Extension DI connector (Option)

Battery connector

RJ45 connector, please refer to Section 3.9

Extension DI connector. Please refer to 3.10.

Connector for absolute type of battery box

Pay special attention to the followings when wiring:

1. When the power is cutoff, do not touch R, S, T and U, V, W since the capacitance inside the

servo drive still contains huge amount of electric charge. Wait until the charging light is off.

2. Separate R, S, T and U, V, W from the other wires. The interval should be at least 30 cm (11.8

inches).

3. If the wire of encoder CN2 or CN5 connecter is not long enough, please use shielded twisted-

pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds 20 meters, please choose the bigger wire diameter of signal cable to ensure it will not cause signal fading. As for the encoder wiring specification of 20-meter-long cable, please use AWG26 of wire size and metal braided shield twisted-pair cable which complies with the standard of UL 2464.

4. When using CANopen, please use the standard shielded twisted-pair cables to ensure the

communication quality.

5. When selecting the wire rod, please refer to Section 3.2.6.

6. Do not install the plug-in capacitance in servo drive. It might burn out the soft-start resistance

and danger will occur.

Revision February, 2017 3-17

Chapter 3 Wiring ASDA-A2

3.2.3 Wiring Method

The wiring method of 400V servo drive is divided into single-phase and three-phase. In the

diagram below, Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of

magnetic contactor and self-remaining power and is the contact of main power circuit.

 Wiring Method of Three-phase Power Supply (suitable for all series of 400 V servo drive)

3-18 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

3.2.4 Specification of Motor Power Cable

Motor Model U, V, W / Connector of Brake Terminal Definition

ECMA-J△0604S (400W)

ECMA-J△0807S (750W)

ECMA-J△0907S (750W)

ECMA-J△0910S (1000W)

ECMA-J△0604S (400W)

ECMA-J△0807S (750W)

ECMA-J△0907S (750W)

ECMA-J△0910S (1000W)

* : with brake

ECMA-K△1305S (500W)

ECMA-L△1305S (500W)

ECMA-L△1308S (850W)

ECMA-M△1309S (900W)

ECMA-J△1010S (1000W)

ECMA-K△1310S (1000W)

ECMA-L△1313S (1300W)

ECMA-K△1315S (1500W)

ECMA-J△1020S (2000W)

ECMA-K△1320S (2000W)

ECMA-J△13304 (3000W)

ECMA-L△1830S (3000W)

ECMA-L△1845S (4500W)

ECMA-L△18553 (5500W)

ECMA-L△18753 (7500W)

ECMA-K△1820S (2000W)

Wiring

Name

(Red) V (White) W (Black)

A 1 2 3 4 - -

B 1 2 4 5 3 6

C F I B E G H

D D E F G A B

CASE GROUND

(Green)

BRAKE1

(Yellow)

BRAKE2

(Blue)

Revision February, 2017

3-19

Chapter 3 Wiring ASDA-A2

When selecting the wire rod, please choose 600V PVC cable and the length should not longer than

30m. If the length exceeds 30m, please take the received voltage into consideration when

selecting the wire size. Please refer to Section 3.1.6 for wire rod selection.

NOTE

1） No polarity for brake coil, the wiring name is BRAKE1 & BRAKE2.

2） Power for brake is DC24 V. Never share it with the power of control signal VDD.

3） Box, (

△

) in servo motor model represents encoder type. △= 1: incremental, 20-bit; △= 2:

incremental, 17-bit; △= 3: 2500 ppr; △= A: absolute.

4 ) Box, () in servo motor model represents brake or keyway / oil seal.

3-20 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

3.2.5 Specification of Encoder Connector

Encoder Connection (Diagram 1):

NOTE

1) Please refer to the Section of Specification and Definition of Encoder Connector.

2) Please refer to Section 3.5 CN2 Connector.

Motor Model Connector of Encoder Cable

ECMA-J△0604S (400W)

ECMA-J△0807S (750W)

ECMA-J△0907S (750W)

ECMA-J△0910S (1000W)

View from

this side

View from

this side

Revision February, 2017 3-21

Chapter 3 Wiring ASDA-A2

Encoder Connection (Diagram 2):

NOTE

Please refer to Section 3.5, CN2 Connector.

Motor Model Connector of Encoder Cable

ECMA-K△1305S (500W)

ECMA-L△1305S (500W)

ECMA-L△1308S (850W)

ECMA-M△1309S (900W)

ECMA-J△1010S (1000W)

ECMA-K△1310S (1000W)

ECMA-L△1313S (1300W)

ECMA-K△1315S (1500W)

ECMA-J△1020S (2000W)

ECMA-K△1320S (2000W)

ECMA-J△13304 (3000W)

No.

A T+ Blue

Terminal

Identification

B T -

S DC+5V

R GND

BRAID

SHIELD

Color

Blue&

Black

Red/Red

&White

Black/

Black&

White

–

3-22 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

Please select shielded multi-core and the shielded cable should connect to the SHIELD end.

Please refer to the description of Section 3.1.6.

NOTE

1) Box, (

2) Box, () in servo motor model represents brake or keyway / oil seal.

△

) in servo motor model represents encoder type. △= 1: incremental, 20-bit; absolute

3.2.6 Selection of Wiring Rod

Servo Drive and corresponding Servo

Motor

ECMA-J△0604S

ECMA-J△0807S

ASD-A2-0743-

ASD-A2-1043-

ECMA-J△0907S

ECMA-K△1305S

ECMA-L△1305S

ECMA-J△0910S

ECMA-K△1310S

△

= 2: incremental, 17-bit; △= 3: 2500 ppr; △= A:

Power Wiring - Wire Diameter mm2 (AWG)

DC24V, DC0V R, S, T U, V, W P, C

1.3

(AWG16)

0.82

(AWG18)

0.82

(AWG18)

(AWG14)

2.1

ASD-A2-1543-

ASD-A2-2043-

ASD-A2-3043-

ASD-A2-4543-

ASD-A2-5543-

ASD-A2-7543-

ECMA-L△1308S

ECMA-J△1010S

ECMA-K△1315S

ECMA-M△1309S

ECMA-L△1313S

ECMA-J△1020S

ECMA-K△1320S

ECMA-K△1820S

ECMA-L△1830S

ECMA-J△13304

ECMA-L△1845S

ECMA-L△18553

ECMA-L△18753

1.3

(AWG16)

1.3

(AWG16)

1.3

(AWG16)

1.3

(AWG16)

0.82

(AWG18)

1.3

(AWG16)

2.1

(AWG14)

3.3

(AWG12)

1.3

(AWG16)

1.3

(AWG16)

3.3

(AWG12)

5.3

(AWG10)

2.1

(AWG14)

2.1

(AWG14)

3.3

(AWG12)

3.3

(AWG12)

Revision February, 2017 3-23

Chapter 3 Wiring ASDA-A2

Servo Drive Model

Encoder Wiring - Wire Diameter mm2 (AWG)

Size Number Specification Standard Length

ASD-A2-0743-

ASD-A2-1043-

ASD-A2-1543-

ASD-A2-2043-

0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-A2-3043-

ASD-A2-4543-

ASD-A2-5543-

ASD-A2-7543-

NOTE

1) Box, () at the end of the servo drive model represents the model code of ASDA-A2. Please refer to the model information of the product you purchased.

△

2) (

), in servo motor model represents encoder type. △= 1: incremental type, 20-bit; △= 2:

△

incremental type, 17, bit;

= 3: 2500 ppr; △= A: absolute type.

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

4) Please use shielded twisted-pair cable for encoder wiring so as to reduce the interference of

the noise.

5) The shield should connect to the

phase of SHIELD.

6) Please follow the Selection of Wire Rod when wiring in order to avoid the danger it may occur.

3-24 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

3.3 Basic Wiring

3.3.1 220V series

 200W (included) or models below (without built-in regenerative resistor)

Revision February, 2017 3-25

Chapter 3 Wiring ASDA-A2

 400W ~ 4.5 kW models (with built-in regenerative resistor)

3-26 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

 5.5kW to 15kW models (with built-in fan but no regenerative resistor)

Revision February, 2017 3-27

Chapter 3 Wiring ASDA-A2

3.3.2 400V series

 750W to 1.5kW models (with built-in regenerative resistor and fan)

3-28 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

 2kW to 7.5kW models (with built-in fan but no regenerative resistor)

Connect to external

Power 3-phase 380~480V

10%, DC24V 10%

regenerative resistor

DC24V

Power

Supply

External Speed

External Torque

Position Pulse

Digital Input

Encoder Signal

A, B, Z Output

Digital Output

Analog Monitor

Output

Serial Communication RS-232/RS-485

Reserved

S T

DC24V

DC0V

USB

CN3

CN4

CN8

CN1

Detection

Phase Loss

A/D

USB/UART

Rectifier Circuit

Control Power

DSP

±15V

+5V

+3.3V

+24V

Position

Control

Regeneration

Protection

Circuit

Data

Bus

Circuit

Servo Drive

Speed

Control

CPLD

GATE

DRIVE

750W and above models

Current

Control

Current

Signal

Processing

Encoder

Processing

Display

MODE SHIFT

SETCHARGE

PWM

Signal

A/D

+12V

Servo

Motor

Encoder

CN2

Linear Scale

CN5

Full-Closed

Loop

Extension

CN7

Digital Input

CN6 CANopen

CN9

Reserved

Revision February, 2017 3-29

Chapter 3 Wiring ASDA-A2

3.4 I/O Signal (CN1) Connection

3.4.1 I/O Signal (CN1) Connector Terminal Layout

In order to have a more flexible communication with the master, 5 programmable Digital Outputs

(DO) and 8 programmable Digital Inputs (DI) are provided. The setting of 8 digital inputs and 5

digital outputs of each axis are parameter P2-10~P2-17 and parameter P2-18~P2-22 respectively.

In addition, the differential output encoder signal, A+, A-, B+, B-, Z+ and Z-, input of analog torque

command, analog speed/position command and pulse position command are also provided. The

followings are the pin diagrams.

The rear wiring terminal of CN1 connector

CN1 Connector (female)

3-30 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

1 DO4+ Digital output 26 DO4- Digital output

2 DO3- Digital output 27 DO5- Digital output

3 DO3+ Digital output 28 DO5+ Digital output

4 DO2- Digital output 29 /HPULSE High-speed

5 DO2+ Digital output position pulse

(-)

6 DO1- Digital output 31 DI7- Digital input

7 DO1+ Digital output 32 DI6- Digital input

8 DI4- Digital input 33 DI5- Digital input

9 DI1- Digital input 34 DI3- Digital input

10 DI2- Digital input 35 PULL

11 COM+ Power input

(12~24V)

12 GND Analog input

13 GND Analog input

14 NC No Connection 39 PULL

15 MON2 Analog

16 MON1 Analog monitor

17 VDD +24V power

18 T_REF Analog torque

19 GND Analog input

20 VCC +12V power

21 OA Encoder

22 /OA Encoder

23 /OB Encoder /B

24 /OZ Encoder /Z

25 OB Encoder B

signal ground

output 1

Input

output

(for analog command)

/A pulse output

pulse

output

37 /SIGN Position sign

signal ground

41 /PULSE Pulse input (-)

43 PULSE Pulse input (+)

45 COM- VDD(24V)

47 COM- VDD(24V)

49 COM- VDD(24V)

monitor

output 2

output (for external I/O)

signal ground

A pulse

output

pulse

output

pulse

output

HI_S

36 SIGN Position sign

(SIGN)

38 HPULSE High-speed

HI_P

(PULSE)

40 /HSIGN High-speed

42 V_REF Analog speed

44 GND Analog input

46 HSIGN High-speed

48 OCZ Encoder Z

50 OZ Encoder Z

Pulse applied

power (SIGN)

(-)

Pulse applied

Power

(PULSE)

power

ground

power

ground

power

ground

30 DI8- Digital input

(+)

position pulse

(+)

position sign (-)

input (+)

signal ground

position sign (+)

pulse opencollector output

pulse linedriver output

NOTE

NC means NO CONNECTION. This terminal is for internal use only. Do not connect it, or it may damage the servo drive.

Revision February, 2017 3-31

Chapter 3 Wiring ASDA-A2

3.4.2 Signals Explanation of Connector CN1

The following details the signals listed in previous section:

General Signals

Analog

Command

(input)

Analog

Monitor (output)

Signal

V_REF 42

T_REF 18

MON1 MON2

Function

(1) The speed command of the motor is -10 V ~

+10 V which means the speed command is 3000 ~ +3000 r/min (default). It can change the corresponding range via parameters.

(2) The position command of the motor is -10 V

~ +10 V which means the position command is -3 cycles ~ +3 cycles (default).

The torque command of the motor is -10 V ~ +10 V which means the rated torque command of 100 % ~ +100 %.

The operating state of the motor can be shown by analog voltage, such as speed and current.

This drive provides two channel outputs. Users can select the desired monitoring data via

parameter P0-03. This signal is based on the power ground.

Wiring

Method

(Refer to

3.4.3)

Position

Pulse

(input)

High-

speed

Position

Pulse

(input)

Position

Pulse

(output)

PULSE

/PULSE

SIGN

/SIGN PULL HI_P PULL HI_S

HPULSE

/HPULSE

HSIGN

/HSIGN

/OA

/OB

/OZ

Position pulse can be inputted by Line Driver

(single phase max. frequency 500KHz) or opencollector (single phase max. frequency 200

KHz). Three kinds of command type can be

selected via P1-00, CW pulse + CCW pulse,

pulse + direction, A pulse + B pulse.

When position pulse uses open-collector, the

terminal should be connected to an external applied power in order to pull high.

Position pulse can be inputted by Line Driver (single phase max. frequency 500KHz) or open-

collector (single phase max. frequency 200

KHz). Three kinds of command type can be

selected via P1-00, CW pulse + CCW pulse,

pulse + direction, A pulse + B pulse.

When position pulse uses open-collector, the terminal should be connected to an external applied power in order to pull high.

21 22

Encoder signal output A, B, Z (Line Drive output) C13/C14

50 24

C3/C4

C4-2

OCZ 48 Encoder signal output Z (Open-collector output) -

3-32 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

VDD is the +24 V power provided by the drive

VDD 17

and is for Digital Input (DI) and Digital Output (DO) signal. The maximum current is 500 mA.

COM+ is the common input of Digital Input (DI) and Digital Output (DO) voltage. When using

VDD, VDD should be connected to COM+. If not

COM+

COM-

Power

using, it needs to apply the external power (+12

V ~ + 24 V). Its positive end should connect to

COM+ and the negative end should connect to COM-.

VCC is the +12V power provided by the drive. It

VCC 20

is used for providing the simple analog command (speed or torque command). The

maximum current is 100 mA.

12,

GND

13,

VCC voltage is based on GND.

19,

NO CONNECTION. This terminal is for internal

Other NC 14

use only. Do not connect it, or it may damage the servo drive.

There are numerous operation mode of this servo drive (please refer to Chapter 6.1). Each operation mode needs different I/O signal. In order to use the terminal in a more efficient way, the selection of I/O signal has to be programmable. That is to say, users can choose the desired DI/DO signal to meet the demand. Basically, the default setting of DI/DO signal has already have the appropriate function which can satisfy the demand of normal application.

Users have to select the operation mode based on the needs first (please refer to Chapter 6.1 for the introduction of each mode) and refer to the following DI/DO table to know the corresponding default setting of DI/DO signal and Pin No of the selected mode in order to conduct the wiring.

The table below lists the default setting of DI/DO signal function and pin No:

The explanation of DO signal default setting is as the followings.

DO Signal

Name

Operation

Mode

No.

Details

+ -

Wiring

Method

(Refer to

3.4.3)

When the servo drive applies to the power and no

SRDY ALL 7 6

alarm (ALRM) occurs in control circuit and motor power circuit, this DO is ON.

SON N/A - -

ZSPD ALL 5 4

ALL

TSPD

(except

- -

PT, PR)

Revision February, 2017 3-33

When the DI.SON is ON and the motor servo circuit can operate smoothly, this DO is ON.

When the motor speed is slower than the setting value of parameter P1-38, this DO is ON.

When the motor actual speed (r/min) is faster than the setting value of parameter P1-39, this DO is ON.

C5/C6/C7/

Chapter 3 Wiring ASDA-A2

DO Signal

Name

Operation

Mode

No.

Details

+ -

PT, PR,

TPOS

PT-S,

PT-T,

PR-S,

1 26

When the deviation between the motor command and actual position (PULSE) is smaller than the setting value of parameter P1-54, this DO is ON.

PR-T

TQL N/A - - When torque is limiting, this DO is ON.

When the alarm occurs (except forward/reverse

ALRM ALL 28 27

limit, emergency stop, communication error, under voltage), this DO is ON.

BRKR ALL - - Control contact of brake.

HOME ALL 3 2 When homing is completed, this DO is ON.

OLW ALL - - When the overload level is reached, this DO is ON.

A warning occurs.

WARN ALL - -

When it is in the status of forward/reverse limit, emergency stop, communication error, under voltage, this DO is ON.

Wiring

Method

(Refer to

3.4.3)

OVF PT, PR - - Position command /feedback overflows

SNL (SCWL) PR - - Reverse software limit

SPL

(SCCWL)

Cmd_OK PR - -

PR - - Forward software limit

The output of internal position command is completed.

CAP_OK PR - - CAPTURE procedure is completed.

MC_OK PR - -

CAM_AREA PR - -

When DO.Cmd_OK and TPOS are ON, this DO is ON.

The master position of E-CAM is inside the setting area.

When the deviation between the speed command

S_CMP S, Sz - -

and the feedback speed of the motor is smaller than the setting value of parameter P1-47, this DO is ON.

SDO_0 ALL - - Output the status of bit00 of P4-06

SDO_1 ALL - - Output the status of bit01 of P4-06

SDO_2 ALL - - Output the status of bit02 of P4-06

SDO_3 ALL - - Output the status of bit03 of P4-06

C5/C6/C7/

SDO_4 ALL - - Output the status of bit04 of P4-06

SDO_5 ALL - - Output the status of bit05 of P4-06

SDO_6 ALL - - Output the status of bit06 of P4-06

SDO_7 ALL - - Output the status of bit07 of P4-06

SDO_8 ALL - - Output the status of bit08 of P4-06

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ASDA-A2 Chapter 3 Wiring

DO Signal

Name

Operation

Mode

No.

+ -

Details

Wiring

Method

(Refer to

3.4.3)

SDO_9 ALL - - Output the status of bit09 of P4-06

SDO_A ALL - - Output the status of bit10 of P4-06

SDO_B ALL - - Output the status of bit11 of P4-06

SDO_C ALL - - Output the status of bit12 of P4-06

C5/C6/C7/

SDO_D ALL - - Output the status of bit13 of P4-06

SDO_E ALL - - Output the status of bit14 of P4-06

SDO_F ALL - - Output the status of bit15 of P4-06

NOTE

1） For example, if the user selects PR mode, pin 3 and 2 are HOME. If the user selects S mode,

pin 3 and 2 are TSPD.

2） The unlisted Pin No means the signal is not the preset one. If users want to use it, parameters

need to be changed and set as the desired ones. Please refer to Section 3.4.4 for further

details.

The explanation of DI signal default setting is as the followings

DI Signal

Name

Operation

Mode

SON ALL 9

Pin No.

Function

When DI is ON, the servo circuit will be activated and the motor coil will generate current.

When the alarm (ALRM) occurs, this signal is used to

ARST ALL 33

reset the servo drive and output the signal, Ready (SRDY) again.

GAINUP ALL -

CCLR PT, PR 10

It is for switching the controller gain.

It is for clearing the deviation counter.

When this DI is ON and the motor speed is slower than

ZCLAMP ALL -

the setting of P1-38, the motor position will be locked when the signal is triggered.

Wiring

Method

(Refer to

3.4.3)

C9/C10/C

/C12

CMDINV PR, T, S -

PR,

CTRG

PR-S,

PR-T

TRQLM S, Sz 10

Revision February, 2017 3-35

When this DI is ON, the motor will operate in the opposite direction.

In PR mode, the moment CTRG is ON (rising edge), save the position command selected by POS0~2 into the

controller and then trigger the command.

ON means the torque limit command is effective.

Chapter 3 Wiring ASDA-A2

DI Signal

Name

Operation

Mode

SPDLM T, Tz 10

POS0

POS1 8

POS2 -

Pin No.

ON means the speed limit command is effective.

In PR mode, the source of position command:

Position

command

P1 0 0 0 0 0 0

POS3 -

P2 0 0 0 0 0 1

POS4 -

POS5 -

P, PR,

PR-S,

PR-T

~ ~

P50 1 1 0 0 1 0

P51 1 1 0 0 1 1

~ ~

P64 1 1 1 1 1 1

Function

POS5 POS4 POS3 POS2 POS

POS0 CTRG

Wiring

Method

(Refer to

3.4.3)

Corresponding

parameter

P6-00

P6-01

P6-02

P6-03

P6-98

P6-99

P7-00

P7-01

P7-26

P7-27

STOP - - Stop

The source of selecting speed command:

SPD0

S, Sz,

PT-S,

SPD1 8

PR-S, S-T

TCM0

PT, T, Tz,

PT-T,

TCM1 8

S-P

PR-T, S-T

PT-S, PR-S

S-T S-T 31

T-P

PT-T,

PR-T

SPD1 SPD0 Command source

0 0 S mode is analog input; Sz mode is 0

0 1 P1-09

1 0 P1-10

1 1 P1-11

The source of selecting torque command:

TCM1 TCM0 Command source

0 0 T mode is analog input; Tz mode is 0

0 1 P1-12

1 0 P1-13

1 1 P1-14

31 Mode switching. OFF: Speed; ON: Position

Mode switching. OFF: Speed; ON: Torque

31 Mode switching. OFF: Torque; ON: Position

C9/C10/

C11/C12

When selecting PT-PR mode or the multi-mode, PT-PR-S,

PT-PR PT, PR -

users can select the source via this DI. When this DI is OFF, it is in PT mode. When this DI is ON, it is in PR mode.

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ASDA-A2 Chapter 3 Wiring

DI Signal

Name

Operation

Mode

EMGS ALL 30

NL(CWL)

(CCWL)

PT, PR, S,

T, Sz, Tz

PT, PR, S,

T, Sz, Tz

No.

Function

It is contact B and has to be ON frequently; otherwise the alarm (ALRM) will occur.

Reverse inhibit limit (contact B) and has to be ON

frequently; or the alarm (ALRM) will occur.

Forward inhibit limit (contact B) and has to be ON

frequently; or the alarm (ALRM) will occur.

ORGP PR - When DI is ON, the drive will start homing.

In PR mode, it needs to search the origin. When this DI is

SHOM PR -

ON, the origin searching function is activated. (Please refer to the setting of parameter P1-47.)

CAM PR -

JOGU ALL -

JOGD ALL -

E-cam engaging control (please refer to the setting of value U and Z of P5-88.)

When this DI is ON, the motor JOG operates in forward direction.

When this DI is ON, the motor JOG operates in reverse direction.

Wiring

Method

(Refer to

3.4.3)

C9/C10/C

/C12

EV1 PR -

EV2 PR -

EV3 PR -

EV4 PR -

PT, PR,

GNUM0

PT-S,

PR-S

PT, PR,

GNUM1

PT-S,

PR-S

INHP PT, PT-S -

Event trigger PR command

Electronic gear ratio (numerator) selection 0 (Please refer

to P2-60~P2-62 for gear ratio selection (numerator).)

Electronic gear ratio (numerator) selection 1 (Please refer

to P2-60~P2-62 for gear ratio selection (numerator).)

In position mode, when this DI is ON, the external pulse input command is not working.

The default setting of DI and DO in each operation mode is shown as the followings. Please note

that the following table neither detail the information as the previous one nor show the Pin number

of each signal. However, each operation mode is separated in different columns in order to avoid

the confusion.

Revision February, 2017 3-37

Chapter 3 Wiring ASDA-A2

Table 3.1 Default Value of DI Input Function

Symbol

Code

Input Function PT PR S T Sz Tz

SON 0x01 Servo On

ARST 0x02 Alarm Reset

GAINUP 0x03 Gain switch

CCLR 0x04 Pulse clear

ZCLAMP 0x05 Zero speed CLAMP

CMDINV 0x06

The input command will be in reverse direction.

Reserved 0x07 Reserved

CTRG 0x08

Internal position command triggered

TRQLM 0x09 Torque limit

SPDLM 0x10 Speed limit

POS0 0x11

POS1 0x12

Internal position command selection 0

Internal position command selection 1

PT-S PT-T PR-S PR-

DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1

DI5 DI5 DI5 DI5 DI5 DI5

DI2 DI2 DI2

DI2 DI2

DI3 DI3 DI3

DI4 DI4 DI4

S-T

POS2 0x13

POS3 0x1A

POS4 0x1B

POS5 0x1C

Internal position command selection 2

Internal position command selection 3

Internal position command selection 4

Internal position command selection 5

STOP 0x46 Motor stops

SPD0 0x14

SPD1 0x15

TCM0 0x16

TCM1 0x17

Speed command selection 0

Speed command selection 1

Torque command selection 0

Torque command selection 1

Mode switch between

S-P 0x18

speed and position command

DI3 DI3 DI3 DI5 DI3

DI4 DI4 DI4 DI6 DI4

DI3 DI3 DI3 DI3 DI5 DI5

DI4 DI4 DI4 DI4 DI6 DI6

DI7 DI7

Mode switch between

S-T 0x19

speed and torque

DI7

command

T-P 0x20

3-38 Revision February, 2017

Mode switch between

DI7 DI7

ASDA-A2 Chapter 3 Wiring

Symbol

Code

Input Function PT PR S T Sz Tz

torque and position command

PT-PR 0x2B

Switch between PT and PR command

EMGS 0x21 Emergency stop

NL(CWL) 0x22 Reverse inhibit limit

PL(CCWL) 0x23 Forward inhibit limit

ORGP 0x24

Original point of homing

SHOM 0x27 Homing is activated

CAM 0x36 E-Cam engaged

JOGU 0x37 Forward JOG input

JOGD 0x38 Reverse JOG input

Event trigger PR

EV1 0x39

command #1(refer to the setting of P5-98, P5-99)

PT-S PT-T PR-S PR-

DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

DI6 DI6 DI6 DI6 DI6 DI6

DI7 DI7 DI7 DI7 DI7 DI7

S-T

Event trigger PR

EV2 0x3A

command #2 (refer to the setting of P5-98, P5-99)

Event trigger PR

EV3 0x3B

command #3 firmware V1.008 sub04 will be provided afterwards)

Event trigger PR

EV4 0x3C

command #4 (firmware V1.008 sub04 will be provided afterwards)

GNUM0 0x43

GNUM1 0x44

Electronic gear ratio (numerator) selection 0

Electronic gear ratio (numerator) selection 1

INHP 0x45 Pulse input inhibit

NOTE

Please refer to Section 3.4.1 for corresponding pin from DI1 ~ 8.

Revision February, 2017 3-39

Chapter 3 Wiring ASDA-A2

Table 3.2 Default Value of DO Output Function

Symbol

SRDY 0x01

SON 0x02

ZSPD 0x03

TSPD 0x04

TPOS 0x05

TQL 0x06

ALRM 0x07

BRKR 0x08

HOME 0x09

OLW 0x10

WARN 0x11

OVF 0x12

Code

Servo is ready

Servo is On.

Zero-speed reached

Reach the target speed

Reach the target position

Torque limit

Servo alarm

Brake

Homing complete

Early warning for overload

Servo warning

Position command /feedback overflows

Output Function PT PR S T Sz Tz

DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1

DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2

DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3

DO4 DO4 DO4 DO4 DO4 DO4 DO4

DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

DO4 DO4 DO4 DO4

DO3 DO3

PT-S PT-T PR-S PR-

S-T

SNL

(SCWL)

SPL

(SCCWL)

0x13

0x14

Cmd_OK 0x15

CAP_OK 0x16

MC_OK 0x17

CAM_AREA 0x18

SP_OK 0x19

SDO_0 0x30

SDO_1 0x31

Reverse software limit

Forward software limit

Internal position command is completed

Capture procedure is completed

Servo procedure is completed

Master position area of E-CAM

Target speed reached

Output the status of bit00 of P4-06

Output the status of bit01 of P4-06

SDO_2 0x32

SDO_3 0x33

SDO_4 0x34

3-40 Revision February, 2017

Output the status of bit02 of P4-06

Output the status of bit03 of P4-06

Output the status of bit04 of P4-06

ASDA-A2 Chapter 3 Wiring

Symbol

SDO_5 0x35

SDO_6 0x36

SDO_7 0x37

SDO_8 0x38

SDO_9 0x39

SDO_A 0x3A

SDO_B 0x3B

SDO_C 0x3C

SDO_D 0x3D

Code

Output the status of bit05 of P4-06

Output the status of bit06 of P4-06

Output the status of bit07 of P4-06

Output the status of bit08 of P4-06

Output the status of bit09 of P4-06

Output the status of bit10 of P4-06

Output the status of bit11 of P4-06

Output the status of bit12 of P4-06

Output the status of bit13 of P4-06

Output Function PT PR S T Sz Tz

PT-S PT-T PR-S PR-

S-T

SDO_E 0x3E

SDO_F 0x3F

NOTE

Output the status of bit14 of P4-06

Output the status of bit15 of P4-06

Please refer to Section 3.4.1 for corresponding pin from DO1 to 5.

Revision February, 2017 3-41

Chapter 3 Wiring ASDA-A2

3.4.3 Wiring Diagrams (CN1)

The valid voltage of speed analog command and torque analog command is between -10V and

+10V. The command value can be set via relevant parameters. The input impedance is 10K.

C1: Speed, Input of Torque Analog Command

C2: Analog Monitor Output MON1 ,MON2

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ASDA-A2 Chapter 3 Wiring

Pulse command can be input by the way of open-collector or Line driver. The maximum input pulse

of Line driver is 500 kpps and 200 kpps for open-collector.

C3-1: The source of pulse input is open-collector NPN equipment which applies the internal

power of the servo drive.

C3-2: The source of pulse input is open-collector PNP equipment which applies the internal

power of the servo drive.

NOTE

Resistor of 1KΩ(1w) has to be connected.

Revision February, 2017 3-43

Chapter 3 Wiring ASDA-A2

 Caution: Do not apply to dual power or it may damage the servo drive.

C3-3: The source of pulse input is open-collector NPN equipment and applies the external

power.

 Caution: Do not apply to dual power or it may damage the servo drive.

C3-4: The source of pulse input is open-collector PNP equipment and applies the external

power.

Servo DriveController

24V

1KΩ*

PULSE

/ PULSE

SIGN

/SIGN

51Ω

The max. input pulse

frequency is 200Kpps

The max. input pulse

frequency is 200Kpps

NOTE

Resistor of 1KΩ(1w) has to be connected.

3-44 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

C4-1: Pulse input (Line driver) can only apply to 5V power. Do not apply to 24V power.

Servo DriveController

Max. input pulse

frequency is

SIGN 36

51Ω

500Kpps

51Ω

Max. input pulse

frequency is

500Kpps

/SIGN

PULSE

/PULSE

 This opto-isolator is one-way input, please be ensured the direction of

current of pulse input is correct.

C4-2: High-speed pulse input (Line driver) can only apply to 5V power. Do not apply to

24V power.

 The high-speed pulse input interface of the servo drive is not the isolated

interface. In order to reduce the interference of the noise, it is suggested that the terminal ground of the controller and the servo drive should be connected to each other.

Revision February, 2017 3-45

Chapter 3 Wiring ASDA-A2

When the drive connects to inductive load, the diode has to be installed. (The permissible current

is under 40mA. The surge current is under 100mA.)

C5: Wiring of DO signal. The servo drive applies to the internal power and the resistor is

general load.

C6: Wiring of DO signal. The servo drive applies to the internal power and the resistor is

inductive load.

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ASDA-A2 Chapter 3 Wiring

C7: Wiring of DO signal. The servo drive applies to the external power and the resistor is

general load.

C8: Wiring of DO signal. The servo drive applies to the external power and the resistor is

inductive load.

Revision February, 2017 3-47

Chapter 3 Wiring ASDA-A2

Input signal via relay or open-collector transistor

NPN transistor, common emitter (E) mode (SINK mode)

C9: The wiring of DI. The servo drive applies to

the internal power.

C10: The wiring of DI. The servo drive

applies to the external power.

PNP transistor, common emitter (E) mode (SOURCE mode)

C11: The wiring of DI. The servo drive applies

to the internal power.

C12: The wiring of DI. The servo drive applies

to the external power.

 Caution: Do not apply to dual power or it may damage the servo drive.

3-48 Revision February, 2017

ASDA-A2 Chapter 3 Wiring

C13: Encoder signal output (Line driver)

C14: Encoder signal output (Opto-isolator)

C15: Encoder OCZ output (open-collector Z pulse output)

Revision February, 2017 3-49

Chapter 3 Wiring ASDA-A2

3.4.4 DI and DO Signal Specified by Users

If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will do and easy. The signal function of DI1 ~ 8, DI9 ~ DI13 and DO1 ~ 5 is determined by parameter P2-10 ~ P2-17 and parameter P2-18 ~ P2-22 respectively. Please refer to Chapter 7.2, which shown as the following table. Enter DI or DO code in the corresponding parameter to setup DI/DO.

Signal Name Pin No

DI1- CN1-9 P2-10 DI2- CN1-10 P2-11 DO1- CN1-6 DI3- CN1-34 P2-12 DO2+ CN1-5

Standard

Extension

(optional)

DI4- CN1-8 P2-13 DO2- CN1-4 DI5- CN1-33 P2-14 DO3+ CN1-3 DI6- CN1-32 P2-15 DO3- CN1-2 DI7- CN1-31 P2-16 DO4+ CN1-1 DI8- CN1-30 P2-17 DO4- CN1-26

EDI9 CN7-2 P2-36 DO5+ CN1-28 EDI10 CN7-3 P2-37 DO5- CN1-27 EDI11 CN7-4 P2-38 EDI12 CN7-5 P2-39 EDI13 CN7-6 P2-40 EDI14 CN7-7 P2-41

Corresponding

Parameter

Signal Name Pin No

DO1+ CN1-7

Standard

Corresponding

Parameter

P2-18

P2-19

P2-20

P2-21

P2-22

3.4.5 Application: Using CN1 Quick Connector for Wiring

ASD-IF-SC5020 CN1 quick connector is designed for easy wiring. It is applicable to ASDA-A2 and ASDA-A2R series servo drive and can satisfy the demand of different DI/O application. It will be a good choice for those who do not want to self-weld the wiring rods. The vibration will not lose the leading wire due to the design of spring terminal blocks. It is rather convenient and fast when wiring and under construction. 5 digital inputs, 4 digital outputs, pulse command inputs and Z phase open-collector outputs are included.

Pin definition is as the following:

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ASDA-A2 Chapter 3 Wiring

J2 J1

PIN Description PIN Description

1 VDD 17 VDD

2 COM+ 11 COM+

3 COM- 2,4,6,26,45,47 COM-

4 DI1- 9 DI1-

5 DI2- 10 DI2-

6 DI3- 34 DI3-

7 DI4- 8 DI4-

8 DI7- 31 DI7-

9 DO1+ 7 DO1+

10 DO2+ 5 DO2+

11 PULL_HI_PS 35 PULL_HI_PS

12 /PULSE 41 /PULSE

13 PULSE 43 PULSE

14 /SIGN 37 /SIGN

15 SIGN 36 SIGN

16 OCZ 48 OCZ

17 GND 12,13,19,44 GND

Revision February, 2017 3-51

Chapter 3 Wiring ASDA-A2

J2 J1

PIN Description PIN Description

18 DO4+ 1 DO4+

19 DO3+ 3 DO3+

20 CN_GND 51,52 CN_GND

Example of wiring:

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ASDA-A2 Chapter 3 Wiring

Wiring and installation of CN1 quick connector:

Wiring:

Installation:

Revision February, 2017

3-53

Delta Products ASDA-A2 Series Users Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

Table of Contents

1.1 Inspection

1.2 Product Model

1.2.1 Nameplate Information

1.2.2 Model Explanation

1.3 Servo Drive and Corresponding Servo Motor

1.3.1 220V Series

1.4 Each Part of the Servo Drive

1.4.1 220V Series

1.4.2 400V Series

Chapter 2 Installation

2.1 Notes

2.2 Ambient Conditions of Storage

2.3 Ambient Conditions of Installation

2.4 Installation Direction and Space

2.5 Specification of Circuit Breaker and Fuse

2.6 EMI Filter Selection

2.7 Selection of Regenerative Resistor

Chapter 3 Wiring

3.1 Connections - 220V series

3.1.1 Connecting to Peripheral Devices

3.1.2 Connectors and Terminals of Servo Drive

3.1.3 Wiring Method

3.1.4 Specification of Motor Power Cable

3.1.5 Specification of Encoder Cable Connector

3.1.6 Selection of Wiring Rod

3.2 Connections - 400V series

3.2.1 Connecting to Peripheral Devices

3.2.2 Connectors and Terminals of the Servo Drive

3.2.3 Wiring Method

3.2.4 Specification of Motor Power Cable

3.2.5 Specification of Encoder Connector

3.2.6 Selection of Wiring Rod

3.3 Basic Wiring

3.3.1 220V series

3.3.2 400V series

3.4 I/O Signal (CN1) Connection

3.4.1 I/O Signal (CN1) Connector Terminal Layout

3.4.2 Signals Explanation of Connector CN1

3.4.3 Wiring Diagrams (CN1)

3.4.4 DI and DO Signal Specified by Users

3.4.5 Application: Using CN1 Quick Connector for Wiring