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.
ii Revision February, 2017
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.
Revision February, 2017 iii
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
Table of Contents
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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ASDA-A2 Table of Contents
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
Revision February, 2017 xiii
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)
Revision February, 2017 1-1
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
1-2 Revision February, 2017
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
Revision February, 2017 1-3
ASDA-A2
p
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
PR
Mode*2
E-Cam*3
1-4 Revision February, 2017
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)
50
100
200
400
400
750
750
1000
1000
2000
3000
500
1000
1500
2000
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
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-A2-0721-□ 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
750
1000
1000
2000
3000
750
1000
1500
2000
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-A2-0743-□ 3.07 9.21
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-A2-2043-□ 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
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