Delta Products ASDA-B2 Series Catalog
Automation for a Changing World
Delta AC Servo Drive
ASDA-B2 Series
High Precision. High Response. Cost Effective.
Delta Electronics' new high-performance, cost-effective ASDA-B2 series servo motors and drives meet the
requirements for general-purpose machine tools and enhance the competitive advantage of servo systems.
The power rating of the ASDA-B2 series ranges from 0.1kW to 3 kW. The superior features of this series
emphasize built-in functions for general-purpose applications and saving the cost of mechatronics integration.
Delta's ASDA-B2 makes it convenient to complete the setting of assembly, wiring and operation. The ASDA-B2
also provides different control modes for different applications.
Transporting and Conveying Equipment
Electric Discharge Machines (EDM)
Cutting Machines
1
Sawing Machines
Table of Contents
3
Features
5
Model Explanation
6
Product Line-up
7
Part Names and Functions
9
Standard Connection Examples
12
Selection of Regenerative Resistor
12
Safety Information
13
Servo Drive Specifications
15
Servo Drive Dimensions
19
Servo Motor Specifications
23
Servo Motor Dimensions
23
Speed-Torque Curve (T-N Curves)
27
Optional Accessories
33
Accessories Combinations
2
Features
Implements High Precision Positioning Control
►
ASDA-B2 series servo drives support 20-bit and 17-bit encoders. The series satisfies the demand of
high-precision positioning control and stable operation at lower speeds.
►
Applying the encoder with a higher resolution can reduce the cogging torque and improve the motor's
precision.
2500ppr of Torque Ripple
►
Outstanding performance with higher speed: Up to 550Hz frequency response and settling time is
17-bit of Torque Ripple
below 1ms.
►
10ms acceleration time from -3000r/min to 3000r/min when running without load.
Example: Servo motor frame sizes 60mm and 400W
Satisfies a Variety of Industry Demands
►
Three control modes available: Built-in position, Speed, and Torque. (Speed and Torque mode can
be controlled by internal parameters or analog voltage.)
►
High-speed differential command (up to 4Mpps) for
high precision positioning control.
►
Three notch filters are provided to suppress the
mechanical resonance efficiently and make the
system operate more smoothly.
►
Lead friction compensation parameter is specified for
the application of circular interpolation, Z-axis motion
and ball screw to reduce the loading of the controller.
►
For bar feeders and other equipment requiring high torque output,
motor protection parameters are offered to protect the mechanical system.
3
Offers Easy-To-Install Solution For Simple Start-Up
►
ASDA-B series share the same power cables and
encoder cables for easy installation and setup without
extra accessories.
Separated
power supply
for main circuit
and control
circuit
►
Servo motor provides brake, oil seal, and other optional
configurations for different applications.
►
Separated power supply for main circuit and control
circuit is easier to maintain the mechanism.
►
400W or above servo drives have built-in regenerative
resistors, which simplify wiring and reduce the
installation cost.
►
Individual connector (2 sets) for analog signal output,
which also simplifies the wiring.
MON1
MON2
Supports two analog outputs
Fulfills Easy-To-Use Requirements For Versatile Operation
►
User-friendly motor sizing software allows users to select the motor.
►
ASDA-Soft configuration software (tuning software) is provided to
meet performance requirements quickly.
►
Easy-to-use digital keypad is ideal for setting parameters and enables
users to directly monitor the servo drive and servo motor.
►
Specific software communication cable ASD-CNUS0A08 (Optional)
can improve communication quality and convenience of operation.
(please refer to optional accessories on page 28)
Charge LED
LED Display
LED Display
顯示部
顯示部
Operation
Operation
Panel
Panel
►
On-line monitoring function for 4 channels
(similar to a digital oscilloscope) is available.
The monitoring data can be 16-bit (4 channels)
and 32-bit (2 channels).
►
Multi-functional parameter editor enables
users to edit, modify, upload / download and
print desired parameters
4
in real time.
Model Explanation
ASDA-B2 Series Servo Drives
ASD - B2 -
Product Name:
AC Servo Drive
Series
B2
ECMA Series Servo Motors
ECM A - C1 06 02 E S
Product Name
ECM: Electrical Commutation Motor
04 21
- L
Model Type
L: Standard
Input Voltage and Phase:
21: 220V 1-phase
23: 220V 3-phase
Rated Output Power
01: 100W
02: 200W
04: 400W
07: 750W
Standard Shaft Dimensions: S
Specified Shaft Dimensions:
7=14mm 3=42mm
10: 1kW
15: 1.5kW
20: 2kW
30: 3kW
Driving Type
A: AC Servo Motor
Series
Rated Voltage / Rated Speed
C: 220V / 3000rpm
E: 220V / 2000rpm
F: 220V / 1500rpm
G: 220V / 1000rpm
Encoder Type
1: 20-bit (Incremental type)
2: 17-bit (Incremental type)
M: 13-bit (Magnetic air type)
Shaft Type and
Round Shaft
(with fixed
screw holes)
(with fixed
screw holes)
Motor Frame Size
04: 40mm 10: 100mm
06: 60mm 13: 130mm
08: 80mm 18: 180mm
09: 86mm
5
Oil Seal
Keyway
Keyway
No
Brake
No Oil
Seal
With
Brake
No Oil
Seal
- - C D
E F - -
P Q R S
No
Brake
With
Oil Seal
Rated Output Power
01: 100W 09: 900W
02: 200W 10: 1kW
03: 300W 15: 1.5kW
04: 400W 20: 2kW
05: 500W 30: 3kW
06: 600W
07: 700W
With
Brake
With
Oil Seal
Product Line-up
Servo Drive
0.1kW 200 W 400 W 750 W 1.0 kW 1.5 kW 2 kW 3 kW
ASD-B2-0121- L
Servo Motor
ECMA-C 0401 S
ASD-B2-0221- L ASD-B2-0421- L ASD-B2-0721-L ASD-B2-1021-L ASD-B2-1521-L ASD-B2-2023-L ASD-B2-3023- L
ECMA-C 0602 S
ECMA-C 0604 S
ECMA-C
ECMA-C
ECMA-E
ECMA-G
0604 H
0804 7
1305 S
1303 S
ECMA-C
ECMA-C
ECMA-G
ECMA-GM1306PS
ECMA-C
0807 S
0807 H
1306 S
0907 S
ECMA-C 1010 S
ECMA-E 1310 S
ECMA-G
ECMA-GM1309PS
ECMA-C
ECMA-F
1309 S
0910 S
1308 S
ECMA-E 1315 S
ECMA-C 1020 S
ECMA-F
ECMA-E
ECMA-E
ECMA-F
1313 S
1320 S
1820 S
1318 S
ECMA-E 1830 S
ECMA-F
ECMA-E
ECMA-C
1830 S
1835 S
1330 4
Note:
1. (
) in the model names represent shaft end / brake or the number of oil seals.
) in the model names encoder types ( =1: Incremental encoder, 20-bit; =2:Incremental encoder, 17-bit).
2. (
6
Part Names and Functions
LED Display
■
The 5-digit, 7-segment LED displays the
servo status or fault codes.
Charge LED
■
A lit LED indicates that either power is connected
to the servo drive or a residual charge is present
in the drive's internal power components.
Operation Panel
■
Function keys used to perform status display, monitor
and diagnostic, function and parameter setting.
Function Keys:
MODE: Mode selection
SHIFT: For shifting the cursor to the left
▲
: For increasing values
▼
: For decreasing values
SET: For storing data
Control Circuit Terminal
(L1c, L2c)
■
Used to connect 200~230 V
single-phase or three-phase VAC supply.
, 50 / 60Hz
AC
Main Circuit Terminal
(R, S, T)
■
Used to connect 200~230 VAC, 50 / 60Hz
commercial power supply.
Servo Motor Output (U, V, W)
■
Used to connect the servo motor. Never connect the
output terminal to the main circuit power as the AC
servo drive may be damaged beyond repair if incorrect
cables are connected to the output terminals.
Regenerative Resistor
■
1. When using an external resistor, connect it to
P ⊕ and C, and ensure an open circuit between
P ⊕ and D.
2. When using an internal resistor, ensure the
circuit is closed between P ⊕ and D, and the
circuit is opened between P ⊕ and C.
3. When using the external braking unit, connect the
braking unit to P ⊕ and
circuit between P ⊕ and D, and P ⊕ and C
4. When using the external brake module, please
connect it to P and
, and ensure an open
.
.
Ground Terminal
7
I/O Interface
Used to connect Delta's DVP series
■
PLC or other external controllers for
controlling I/O signals.
Motor Encoder Interface
Used to connect the encoder.
■
Serial Communication
Used to connect PLC, HMI, and
■
other controllers for RS - 485 /
RS - 232 serial communication.
Port
Reserved
Analog Voltage Output Terminal
■
Used to provide two analog monitor
outputs, MON1 and MON2.
Heatsink
■
Used to secure servo drive and for
heat dissipation.
Please note that this only introduces servo drive's basic functions.
Specic models may have different functions.
8
Wiring
Position (Pt) Control Mode (for Pulse Command Input)
Pul se inpu t, for th e use of in ternal
pow er supp ly (Ope n-colle ct or i np ut )
Controller Servo Drive
PULL_ HI
SG
Pul se inpu t, for th e use of ex ternal
pow er supp ly (Ope n-colle ct or i np ut )
Controller
PULL_H I
+
DC24V
-
/PULSE
SG
Pul se inpu t (Line dri ve r)
This is a 5V system,do not connect
to 24V of power supply.
Controller
SIGN
/SIGN
PULSE
/PULS E
SG
Caution: Because this photocoupler is a
unidirectional optocoupler, please pay
close attention on the current
direction of input pulse command.
Hig h-spe ed pulse in put
(Li ne rece iver)
This is a 5V system,do not connect
to 24V of power supply.
Controller
SG
GND
Caution: Ensure that the ground terminal of the
controller and the servo drive
are connected to each other.
/SIGN
/PULS E
COM-
/SIGN 37
VDD
35
2kΩ
41
39
37
43
41
42 HSIG N
40 /HSI GN
38 HPUL SE
36 /HPU LSE
19 GND
17
35
2kΩ
37
2kΩ
41
14
2kΩ
Servo Drive
51Ω
51Ω
51Ω
51Ω
100kΩ
100Ω
DC24V
Approx.
2kΩ
75Ω
75Ω
Approx.
2kΩ
75Ω
75Ω
Servo Drive
Approx.
2kΩ
75Ω
75Ω
Approx.
2kΩ
75Ω
75Ω
Max. input
pulse frequency
is 500kpps
Max. input
pulse frequency
is 500kpps
Servo Drive
2kΩ
2kΩ
2kΩ
2kΩ
Max. input
pulse
frequency
is 200kpps
Max. input
pulse
frequency
is 200kpps
Max. input
pulse
frequency
is 200kpps
Max. input
pulse
frequency
is 200kpps
AC 20 0/230 V
Thr ee-ph ase
50/ 60Hz
Hig h-spe ed puls e
inp ut (Lin e recei ver)
24V
Enc oder
pul se outp ut
(PG D ividi ng
Rat io Outp ut)
MCCB
Pul se inpu t
(Li ne driv er)
10kΩ10 V
*3
SON
CCLR
TCM0
TCM1
ARST
CWL
CCWL
EMGS
0
SRD Y
1.5 kΩ
ZSP D
1.5 kΩ
1.5 kΩ
TPO S
1.5 kΩ
1.5 kΩ
ALR M
0
1.5 kΩ
A phas e pulse
B pha se puls e
Z pha se puls e
Z pha se open
col lecto r
2C
CN1
Serv o Dr ive
Ω
10k
DC2 4V
Ω
5k
5kΩ
5k
Ω
5k
Ω
5kΩ
5k
Ω
5k
Ω
5kΩ
5k
Ω
Max. o utput
mA
curr ent 50
volt age 30V
10kΩ
*3
MC
R
S
T
-
L1C
L
/SI GN
37
SIG N
39
/PU LSE
41
43
PUL SE
18
T-RE F
19
GND
/HS IGN
40
HSI GN
42
36
/HP ULSE
38
HPU LSE
VDD
17
COM +
11
COM -
14
9
DI1
10
DI2
34
DI3
8
DI4
33
DI5
32
DI6
31
DI7
30
DI8
12
DI9
DO1 +
7
DO1 -
6
DO2 +
5
DO2 -
4
DO3 +
3
DO3 -
2
DO4 +
1
DO4 -
26
DO5 +
28
DO5 -
27
DO6 +
16
DO6 -
15
OA
21
/OA
22
OB
25
/OB
23
OZ
13
/OZ
24
44
OCZ
19
GND
NOTE:
*1. 200W and below drives do not provide
built-in regenerative resistor.
*2. The brake coil has no polarity.
*3. Please refer to SINK / SOURCE modes
P
D
C
U
V
W
CN2
4
5
Res erved
Res erved
8
6,7
CN3
6
5
4
3
2
1
CN5
1
2
3
*1
Reg enera tive
Res istor
Red
Whi te
Bla ck
Gre en
T+
Blu e
T -
Blu e/Bla ck
-
-
-
-
+5V
Red & R ed/Wh ite
GND
Bla ck & Blac k/Whi te
RS4 85-
RS4 85+
RS2 32_RX
-
RS2 32_TX
GND
MON 1
GND
MON 2
24V
SG
SG
Pow er
Sup ply
(
EMGS
BRKR
*2
Bra ke
Enc oder
V
Twis ted-p air
10k Ω
or tw isted -
10k Ω
shi eld cab le
V
Twis ted-p air
or tw isted shi eld cab le
Use a r elay or o pen-c ollec tor tra nsist or to inp ut sign al
NPN t ransi stor wi th mult iple em itter f inger s (SINK M ode)
Wir ing of DI s ignal , for the u se of
int ernal p ower su pply
B
PNP t ran sisto r with mu ltipl e emitt er fing ers(S OURCE M ode)
Wir ing of DI s ignal , for the u se of
int ernal p ower su pply
R
B
Serv o Drive
VDD
C
COM+
E
Approx.
4.7kΩ
SON
COM-
Serv o Drive
VDD
SON
Approx.
4.7kΩ
E
COM+
COM-
C
Wir ing of DI s ignal , for the u se of
ext ernal p ower su pply, in ducti ve load
DC24 V
Approx.
4.7kΩ
DC24 V
Wir ing of DI s ignal , for the u se of
ext ernal p ower su pply
DC24 V
DC24 V
Approx.
4.7kΩ
Serv o Drive
COM+
SON
Serv o Drive
SON
COM+
Approx.
4.7kΩ
Approx.
4.7kΩ
Caution: Do not use dual power supply. Failure to
observe this caution may damage the servo drive.
WARNI NG
9
Speed (S) Control Mode
AC 200/230V
Three-phase
50/60Hz
Encoder
pulse output
(PG Dividing
Ratio Output)
MCCB
TRQL M
CCWL
EMGS
24V
A phase pulse
B phase pulse
Z phase pulse
Z phase open
collector
10kΩ10 V
10kΩ10 V
SON
SPD0
SPD1
ARST
CWL
SRD Y
ZSP D
TSP D
BRK R
ALR M
0
0
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
MC
V-REF
GND
T-REF
GND
VDD
COM+
COM-
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DI9
DO1+
DO1-
DO2+
DO2-
DO3+
DO3-
DO4+
DO4-
DO5+
DO5-
DO6+
DO6-
OA
/OA
OB
/OB
OZ
/OZ
OCZ
GND
R
S
T
-
L1 C
L
Servo D riv e
*1
P
D
C
Red
U
White
2C
CN1
20
19
18
19
10kΩ
10kΩ
10kΩ
10kΩ
DC24V
17
11
14
9
10
34
8
33
32
31
30
12
Ω
5k
Ω
5k
5kΩ
Ω
5k
Ω
5k
5k
Ω
5kΩ
5kΩ
5kΩ
7
6
5
4
3
2
1
26
28
27
16
15
21
22
25
23
13
24
44
19
Max. o utput
mA
curr ent 50
volt age 30V
V
Black
W
Green
CN2
4
5
Reserved
Reserved
8
6,7
CN3
6
5
4
*3
3
2
1
CN5
1
2
3
Regenerative
Resistor
T+
Blue
T -
Blue/Black
-
-
-
-
+5V
Red & Red/White
GND
Black & Black/White
RS485-
RS485+
RS232_RX
-
RS232_TX
GND
MON1
GND
MON2
Power
24V
EMGS
(
BRKR
*2
Supply
Brake
Encoder
Twisted-pair
or twistedshield cable
SG
V
V
SG
10kΩ
10kΩ
Twisted-pair
or twistedshield cable
NOTE :
*1. 20 0W and be low dri ves d o no t pro vi de
buil t-in re gener ati ve r esi st or.
*2. Th e brake c oil has n o pol ar ity.
*3. Pl ease re fer to SI NK / SOUR CE mode s
10
Wiring
Torque (T) Control Mode
AC 200/230V
Three-phase
50/60Hz
Encoder
pulse output
(PG Dividing
Ratio Output)
SPDL M
TCM0
TCM1
ARST
CCWL
EMGS
24V
A phase pulse
B phase pulse
Z phase pulse
SON
CWL
SRD Y
ZSP D
TSP D
BRK R
ALR M
0
MCCB
10kΩ10 V
10kΩ10 V
0
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
1.5 kΩ
MC
V-REF
GND
T-REF
GND
VDD
COM+
COM-
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DI9
DO1+
DO1-
DO2+
DO2-
DO3+
DO3-
DO4+
DO4-
DO5+
DO5-
DO6+
DO6-
OA
/OA
OB
/OB
OZ
/OZ
20
19
18
19
17
11
14
9
10
34
8
33
32
31
30
12
7
6
5
4
3
2
1
26
28
27
16
15
21
22
25
23
13
24
R
S
T
-
L1 C
L
2C
CN1
Servo D riv e
10kΩ
10kΩ
10kΩ
10kΩ
DC24V
5kΩ
Ω
5k
Ω
5k
5k
5k
5kΩ
5k
5k
5k
*3
Ω
Ω
Ω
Ω
Ω
P
D
C
U
V
W
CN2
4
5
Reserved
Reserved
8
6,7
CN3
6
5
4
3
2
1
CN5
1
2
3
*1
Red
White
Black
Green
T+
Blue
T -
Blue/Black
-
-
-
-
+5V
Red & Red/White
GND
Black & Black/White
RS485-
RS485+
RS232_RX
-
RS232_TX
GND
MON1
GND
MON2
Regenerative
Resistor
24V
SG
EMGS
Power
BRKR
*2
Supply
Brake
Encoder
Twisted-pair
or twistedshield cable
(
SG
V
V
10k Ω
10k Ω
Twisted-pair
or twistedshield cable
Z phase open
collector
OCZ
GND
44
19
Max. o utput
curr ent 50mA
volt age 30V
NOTE :
*1. 20 0W and be low d ri ves d o not pro vide
buil t-in re gen er ati ve r esi stor.
*2. The br ake c oi l has n o po lar ity.
*3. Pl ease re fer t o SI NK / SO UR CE mo de s
11
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