Instruction Manual for DELTA models including: ASDA-M Series, ASDA-M Series AC Servo Drive and Motor, AC Servo Drive and Motor, Servo Drive and Motor, Drive and Motor, Motor

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Automation for a Changing World
Delta AC Servo Drive & Motor ASDA-M Series
www.deltaww.com
PLC1.ir

Introduction to the ASDA-M Series
Delta's ASDA-M Series is a three-axis intelligent AC servo system which has successfully integrated control, motion and drive into one servo system and is ideal for multi-axis motion control applications. With this innovative 3-in-1 design, the ASDA-M demonstrates a perfect combination of motion controller and servo system, and has received excellent feedback from customers. The development of the ASDA-M is in response to positive market feedback on our ASDA-A2. The ASDA-M offers high resolution, high frequency response, built-in electronic cam (E-Cam), auto notch filters, vibration suppression, full-closed loop control, friction compensation and a more flexible position register control PR mode. It also provides strong motion control functions and advanced design to meet a variety of applications for all types of industrial automation machines. The ASDA-M goes beyond the typical servo drive. It includes 3 axes servo drives in one frame to provide 3 axes synchronous motion control and it supports real-time data exchange among 3 axes without any time delay. Users can perform 3-axis linear / arc / helical interpolation functions easily. In addition, the ASDA-M features a new gantry control function for synchronous control that is precisely adapted to pure rigid mechanical systems. The upgraded ASDA-Soft software provides a built-in contour analysis function to strengthen system diagnosis capabilities. The ASDA-M supports DMCNET and CANopen communication protocols. Connecting to DMCNET extension digital input and output modules increases system extension flexibility and control needed for application customization. The CANopen and RS-485 interfaces enable the servo system to integrate with other parts of the automation more efficiently and effectively. The ASDA-M is a highly-integrated servo system that demonstrates Delta's expertise in innovation and integration, giving a new definition to servo system and offering a new automation vision for a changing world.
1

Table of Contents
1 Introduction to the ASDA-M Series 3 ASDA-M Series Features 15 ASDA-Soft Configuration Software 17 Servo Drive and Servo Motor Combinations 18 Product Line-up 19 Model Name Explanation 20 Servo Drive Specifications 21 Servo Drive Dimensions 23 Wiring 28 Servo Motor Features 29 Servo Motor Specifications 31 Servo Motor Dimensions 34 DMCNET Remote Modules 37 Part Names and Functions 39 Optional Accessories 41 Optional Cables and Connectors 46 Accessories Combinations 50 Safety Information 50 Regenerative Resistor Specifications
2

DT3

USB Connection Port for Direct Connection to Personal Computers or Notebooks

ASDA-M Series Servo System

Real Time I/O (18 Inputs / 9 Outputs)

Z-Axis

Y-Axis

X-Axis

ASDA-M Series Features

Highly Integrated System
 Built-in motion control and PLC functions  Multi-axis synchronous interpolation  Advanced gantry control  Flexible electronic cam (E-Cam) function  High-speed frequency response

 Excellent vibration and resonance suppression
 High-precision full-closed loop control  Versatile PR mode  Real-time Capture and Compare functions

3

HMC Series Controller with Human Machine Interface

ASDA-A2 Series Servo Drives ASD-A2-  -F

Supports DMCNET Communication Protocol
DMCNET High-Speed Motion Control

32 DI / 32 DO or
16 DI / 16 DO

16-bit 4 D/A or
16-bit 4 A/D

4-Channel Pulse
Interface

Real Time, Reliable and High-Speed Motion Control Network
 Supports DMCNET and CANopen communication protocols.
 With the aid of Delta's Human Machine Controller (HMC), it can establish an integrated system configuration by DMCNET.
 Supports DMCNET interface for I/O extension modules.

High Precision, High Performance
 Supports incremental type and absolute type encoders.
 Incremental type encoder provides up to 1280000 p/rev resolution for high-precision positioning.

4

ASDA-M Series Features
Multi-Axis Synchronous Interpolation
 A variety of interpolation functions maximize the motion control performance of the ASDA-M Series.  Interpolation commands are generated by the algorithm from the ASDA-M Series to offer high
synchronous control accuracy.

3-Axis Helical Interpolation

3-Axis Linear Interpolation

2-Axis Arc Interpolation

2-Axis Linear Interpolation

5

Advanced Gantry Control
 A large amount of data and calculations among two axes can be completed with the same DSP (Digital Signal Processor). Precise synchronization is easy to achieve. This greatly increases the efficiency and performance of gantry control.
 In rigid or general mechanical systems, no matter if the loading on multiple axes is equal or not, the ASDA-M Series can perform precise motion control and drive each axis simultaneously.

Same DSP, Real Time, Excellent Synchronous Control
Position, Speed and Torque commands are exchanged between Axis 1 and Axis 2 every
62s (16kHz)

Axis 1

Axis 2

Gantry Control

6

ASDA-M Series Features
Distributed Motion Control System - HMC Series serves as a Master
 Up to 10Mbps communication bandwidth is provided. It is capable of controlling 12 slave units within 1ms.
 With the aid of Delta's Controller with Human Machine Interface HMC Series, it offers the best combination of distributed systems to increase effectiveness.
Provides an integrated development environment

ASDA-M Series Servo System ASD-M-  -F

HMC Series Controller with Human Machine Interface
Ethernet

Real Time I / O (18 Inputs / 9 Outputs )

RS-485

DMCNET High-Speed Motion Control

High speed RS-422 (10 Mbps)

Z- Axis

Y- Axis

X- Axis

ECMA Series Servo Motors

32 DI / 32 DO or
16 DI / 16 DO

Pulse Input

I / O Module

I / O Module Manual Pulse Generator (MPG)

7

Contour Analysis Function in ASDA-Soft
 Capable of monitoring the data of three axes simultaneously.  Provides 2-axis surface trajectory display function for tracking and analysis.  Capable of monitoring position commands and trajectory changes for contour error analysis.

Contour Test 

Contouranalysis ofposition feedback signals between two servo motors

8

ASDA-M Series Features
Flexible Electronic Cam (E-Cam)
 A flexible mechanism that can be easily configured with three slave axes or only one master axis.
 The switch of slave and master axes is determined by parameter settings that users can change freely.
 ASDA-Soft configuration software provides E-Cam profile editing functions for easy tuning and adjustment.

ElectronicCam (E-Cam)

High Responsiveness
 Up to 1 kHz frequency response.  Settling time below 1 ms.  Takes only 7ms to accelerate from -3000 r/min to 3000 r/min.
(Note: The test record of a 400 W motor with 60 mm frame size)

Time (ms)

Time (ms)
9

Excellent Suppression Functions
 Vibration Suppression (Low Frequency) Two vibration suppression filters are provided for long arm systems to minimize the vibration at machine edges effectively.
Motor Control Arm

Vibration at Machine Edge

 Resonance Suppression (High Frequency)

Two auto notch filters and one manual notch filter are provided to suppress mechanical

resonance efficiently.

Auto Notch Filter

30

20

Torque (Amp)

10

0

-10

-20

-30

0

1

2

3

4

5

6

7 t (sec)

Before Suppression

After Suppression

Speed (rpm)

2000

1500

1000

500

0

-500

-1000

-1500

-2000

0

1

2

3

4

5

6

7 t (sec)

Auto Notch Filter Starts

10
PLC1.ir

ASDA-M Series Features
Full-Closed Loop Control Function
 Reduces the effects of backlash and flexibility from the machine and ensures the accuracy of positioning.
Motor Encoder
Z
Linear Scale Motor Encoder
Y
Linear Scale Motor Encoder
X
Linear Scale
11

Versatile PR Mode
 ASDA-Soft configuration software offers a parameters editing function for different procedures planning.  In PR mode, 99 procedures can be applied for three axes to enhance the ability of multiple points and
continuous position control.
 Motion profile such as target position, acceleration and deceleration control can be changed instantaneously.
 Multi-axis synchronous motion movement is ideal for applications requiring high synchronous control accuracy and variable speed.
 35 Homing methods / Jump mode / Write parameter mode / Single-axis speed mode / Single-axis position mode / Multi-axis linear interpolation mode / 2-Axis arc interpolation mode / 3-Axis helical interpolation / Vector speed change mode, nine kinds of PR modes are available for selection.
 Supports absolute commands, relative commands, incremental commands, and high-speed capture commands for accurate positioning control.

Sequential Command

P_Command 1

P_Command 2

A command is executed only when the previous command is completed.

Overlap Command P_Command 1 P_Command 2
The second command is executed after the delay time or during the deceleration period.

Insertion Command P_Command 2
P_Command 1
External command triggered Insertion changes the command executed at the moment it is inserted.

12

ASDA-M Series Features
Real Time Capture and Compare Functions Position Latch Function (Capture)
 Captures the coordinate value on the reference axis with a response time less than 8s.
 It can be used to do mark tracking.  Maximum 1500 records.

Motor Encoder

Position Detection Function (Compare)
 Promptly outputs pulses upon the axis reaching the target position with a response time less than 5s.
 It can be used for CCD camera applications.  Maximum 1500 records.

Data Array
Linear Encoder

Pulse Train
Data Array

Motor Encoder ==

When the record in Data Array is the same as the detected position, DO3 will output.
Position Detection Function (Compare)

13

High-Accuracy Positioning
 ECMA Series servo motors feature incremental encoders with 20-bit resolution (1280000 p/rev) which can eliminate unstable commands at low speed, smooth motor operation and enhance the accuracy of positioning.
 Supports 17-bit absolute system.
Incremental encoder resolution: 1280000 p/rev
Reliable Communication on High-Speed Motion Control Network
 Complies with CANopen DS301 protocol, providing up to 1Mbps communication rate.  Capable of connecting to maximum servo systems in position, speed and torque modes through
CANopen communication. Delta High-speed Communication Network
CANopen Master Module
Maximum 127 axes systems working on the same bus
14

ASDA-Soft Configuration Software
 Strong Capture and Compare functions for position latch and detection help you complete system configuration quickly.
 User-friendly E-Cam editing interface is provided for designing E-Cam profiles. Quick settings for flying shear and rotary cut applications are also offered. 15

 Versatile monitoring function, similar to a digital oscilloscope is able to quickly record the status and data of each axis. Real-time monitoring is easy.
 Convenient alarm display function is capable of troubleshooting the system easily and recommending timely corrective actions.
 Easy-to-use editing interface is designed for new and enhanced PR control mode. Homing, point-to-point and other motion control functions for multi-axis positioning control are easy to achieve.
16

Servo Drive and Servo Motor Combinations

Servo Drives and Servo Motors

Servo Drive

750W Servo Drive
ASD-M-0721- 

Examples

750W Servo Drive

750W Servo Drive

Servo Motor

Options: 100W 200W 400W 750W

Options: 100W 200W 400W 750W

Options: 100W 200W 400W 750W

Output Capacity for One Servo Motor : 750W Max.

750W 750W 750W

100W 400W 750W

Servo Drive

750W Servo Drive
ASD-M-0721-  s

750W Servo Drive

750W Servo Drive

Servo Motors

Options: 100W 200W 400W 750W

Options: 100W 200W 400W 750W

Output Capacity for One Servo Motor : 750W Max.

Servo Drive

1.5kW Servo Drive
ASD-M-1521- 

750W

750W

1.5kW Servo Drive

750W

400W

1.5kW Servo Drive

Servo Motors

Options: 750W 1kW 1.5kW

Options: 750W 1kW 1.5kW

Options: 750W 1kW 1.5kW

1.5kW 1.5kW 1.5kW

1.5kW 1.0kW 750W

Output Capacity for One Servo Motor: 1.5kW Max.

Servo Drive

1.5kW Servo Drive
ASD-M-1521-  s

1.5kW Servo Drive

1.5kW Servo Drive

Servo Motors

Options: 750W 1kW 1.5kW

Options: 750W 1kW 1.5kW

Output Capacity for One Servo Motor: 1.5kW Max.

1.5kW

1.5kW

1.5kW

1.0kW

17

Product Line-up

Servo Drives

750W

1.5kW

ASD-M-0721-  ASD-M-0721-  S

ASD-M-1521-  ASD-M-1521-  S

ECMA-C1040F  S

40

ECMA-C 0401  S

ECMA-C 0602  S

60

ECMA-C 0604  S

ECMA-C 0604  H

ECMA-C 0804  7

80

ECMA-C 0807  S

ECMA-C 0807  H

86 Servo Motors

ECMA-C

0907  S
ECMA-C

0910  S

100

ECMA-C 1010  S

ECMA-E 1305  S

ECMA-G 1303  S

ECMA-G 1306  S

ECMA-F 1308  S

130

ECMA-F 1313  S

ECMA-E 1310  S

ECMA-E 1315  S
ECMA-G 1309  S
Note: 1) The boxes (  ) at the ends of ASD-M servo drives are for optional configurations. Please refer to the actual servo drive product for more model name information. 2) The triangles ( ) in the model names of the servo motors represent encoder type. =1: Incremental encoder, 20-bit ; =A: Absolute encoder,
17-bit ; =W: Absolute encoder, 24-bit (To be provided)
3) The boxes (  ) in the model names of the servo motors represent shaft end/brake or the number of oil seal.

18

Model Name Explanation
ASDA Series Servo Drives

A S D - M - 07 21 - L S

Product Name: AC Servo Drive Series: M

Model Type

Type
M F L R
MSupports CANopen

Full-Closed Control 

CANopen 



X



X



X

FSupports DMCNET LPure Servo

DMCNET

E-CAM

X







X

X





R: Provides Development Platform

2 Axes / Cost Efficient Type
Model Type (see the table below)
Input Voltage and Phase 21 : 220V 1-phase / 3-phase
Rated Output Power 07: 750 W 15: 1.5 kW
Development Platform X X X 

ECMA Series Servo Motors

ECM A - C1 06 02 E S

Product Name ECM: Electrical Commutation
Motor
Driving Type A: AC Servo Motor
Series Rated Voltage / Rated Speed C: 220V / 3000 r/min E: 220V / 2000r/min F: 220V / 1500 r/min G: 220V / 1000r/min Sensor Type 1: Incremental encoder, 20-bit A: Absolute encoder
(Single-turn: 17-bit; Multi-turn: 16-bit)

S: Standard Shaft Diameter H: High Inertia Model

Shaft Type and Oil Seal

W/O With W/O With Brake Brake Brake Brake
W/O W/O With With Oil Seal Oil Seal Oil Seal Oil Seal

Round Shaft (with screw hole)

-

-

C

D

Keyway

E

F

-

-

Keyway (with screw hole)

P

Q

R

S

Motor Frame Size
04: 40 mm 10:100 mm 06: 60 mm 13:130 mm 08: 80 mm 09: 86 mm

Rated Output Power
0F: 50 W 05: 500 W 10: 1.0kW 01: 100 W 06: 600W 13: 1.3kW 02: 200 W 07: 750W 15: 1.5kW 03: 300 W 08: 850W 04: 400 W 09: 900W

19

Servo Drive Specifications
220V Series

750 W

1.5 kW

ASDA-M Series

0721- 

07 0721-  S

15

1521- 

1521-  S

Phase / Voltage

Three-Phase or Single-Phase 220 VAC

Power Supply

Permissible Voltage Range Input Current (3PH) (Units: Arms)

Three-Phase or Single-Phase 200~230 VAC, -15% ~ 10%

9.3

6.2

18.6

12.4

Input Current (1PH) (Units: Arms)

17.8

11.8

33.3

22.2

Continuous output current

5.1

8.3

Cooling System Encoder Resolution / Feedback Resolution Control of Main Circuit Tuning Modes Regenerative Resistor

Fan Cooling 20-bit (1280000 p/rev) SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual None

Position Control Mode

Max. Input Pulse Frequency Pulse Type Command Source Smoothing Strategy Electronic Gear

Max. 500 Kpps / 4 Mpps (Line driver) Max. 200 Kpps (Open collector) Pulse + Direction, A phase + B phase, CCW pulse + CW pulse External pulse train (Pt mode) / Internal procedures (Pr mode) Low-pass and P-curve filter
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)

Torque Limit Operation

Set by parameters

Feed Forward Compensation

Set by parameters

Speed Control Mode

Analog Input Command

Voltage Range Input Resistance Time Constant

Speed Control Range *1

0 ~ ±10 VDC 10 K 2.2 s 1 : 5000

Command Source Smoothing Strategy Torque Limit Operation Frequency Response Characteristic

External analog signal / Internal parameters Low-pass and S-curve filter
Set by parameters or via analog input
Maximum 1 kHz

Speed Accuracy *2 (at rated rotation speed)

Torque Control Mode

Analog Input Command

Voltage Range Input Resistance Time Constant

Command Source

Smoothing Strategy

Speed Limit Operation

Analog Monitor Output

Inputs

Digital Inputs/Outputs

Outputs
Protective Functions
Communication Interface Installation Site Altitude Atmospheric pressure Operating Temperature Storage Temperature Humidity Vibration IP Rating Power System

Environment

0.01% or less at 0 to 100% load fluctuation
0.01% or less at ±10% power fluctuation
0.01% or less at 0 ºC to 50 ºC ambient temperature fluctuation 0 ~ ±10 VDC 10 K 2.2 s
External analog signal / Internal parameters
Low-pass filter
Set by parameters or via analog input
Monitor signal can be set by parameters (Output voltage range: ±8 V)
Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Command input reverse control, Command triggered, Speed/Torque limit enabled, Position command selection, Motor stop, Speed Position Selection, Position / Speed mode switching, Speed / Torque mode switching, Torque / Position mode switching, Pt / Pr command switching, Emergency stop, Forward / Reverse inhibit limit, Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home", Electronic cam, Forward / Reverse JOG input, Event trigger Pr command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
Encoder signal output (A, B, Z Line Driver and Z Open Collector )
Servo ready, Servo On, At Zero speed, At Speed reached, At Positioning completed, At Torques limit, Servo alarm (Servo fault) activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command overflow, Forward / Reverse software limit, Internal position command completed, Capture operation completed output, Motion control completed output, Master position of E-CAM (electronic CAM)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse control command, Excessive deviation, Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward limit switch error, Position excessive deviation of full-close control loop, Serial communication error, Input power phase loss, Serial communication time out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
RS-232 / RS-485 / CANopen / USB Indoor location (free from direct sunlight), no corrosive liquid and gas (far away from oil mist,flammable gas, dust)
Altitude 2000m or lower above sea level 86 kPa ~ 106 kPa
0 ºC ~ 55 ºC(If operating temperature is above 45oC, forced cooling will be required) -20 ºC ~ 65 ºC
0 ~ 90% RH (non-condensing) 20 Hz or below 9.80665 m/s21G20 ~ 50Hz 5.88 m/s20.6 G
IP20 TN System*3

Certifications

IEC/EN 61800-5-1UL 508C

Footnote:

*1. Rated rotation speed: With a full load, speed ratio is defined as the minimum speed (the motor will not pause).

*2. When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed - Full load rotation speed) / Rated rotation speed

*3. TN system: A power distribution system having one point directly earthed,

the exposed conductive parts of the installation being connected to that point by

20

a protective earth conductor.

PLC1.ir

Servo Drive Dimensions
ASD-M-0721-  ASD-M-0721-  S750W

15 5 (6.1 ) 140 (5.51)

55..55((00.21177))

185 (7.28)

190 (7.48) 267.32 (7.93)

5.5 (0.217)
Screw:M4x0.7 Screw Torque:14(kgf-cm)
Weight 3.5 (7.7)
1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be revised without prior notice.
21

ASD-M-1521-  ASD-M-1521-  S1.5kW

15 5 (6.1 ) 140 (5.51 )

5. 5 (0. 217)

20 5 (8.07)

209 (8. 25 ) 21 9 (8.62)

5. 5 (0.217 )
Screw:M4x0.7 Screw Torque:14(kgf-cm) Weight 4.5 (9.9)
1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be revised without prior notice.
22

Wiring
Position (PT) Control Mode (for Pulse Command Input)

Controller SG

Servo Drive

VDD 17 
Pull-hi_S 35
Pull-hi_P 39 /SIGN 37

DC24V

Approx. 1K 51

Max. Input pulse frequency is 200Kpps

51

Approx. 1K 51

Max. Input pulse frequency is 200Kpps

/PULSE 41 45
COM-

51

Pulse input (Open-collector PNP), for the use of internal power supply

Controller

Servo Drive

VDD 17

DC24V

Pull-hi_S 35 Approx. 1K 51

Max. Input pulse frequency is 200Kpps

/SIGN 37

51

 Pull-hi_P

39

Approx. 1K

51

Max. Input pulse frequency is 200Kpps

/PULSE 41

51

SG

COM- 45

Pulse input (Open-collector NPN), for the use of external power supply

Controller

Servo Drive

 Pull-hi_S 35
+ - DC24V
 Pull-hi_P 39
/SIGN 37

Approx. 1K 51

Max. Input pulse frequency is 200Kpps

51

Approx. 1K 51

Max. Input pulse frequency is 200Kpps

/PULSE 41 45
COM-

51

SG

Pulse input (Open-collector PNP), for the use of external power supply

Controller

Servo Drive

+ DC24V
-

 Pull-hi_S 35

Approx.1K 51

Max. Input pulse frequency is 200Kpps

/SIGN 37

51

 Pull-hi_P

39

Approx.1K

51

Max. Input pulse frequency is 200Kpps

/PULSE 41

51

SG

COM-

45

Pulse input (Line driver)

Controller

SIGN 36 /SIGN 37
PULSE 43 /PULSE 41

Servo Drive

51 51
51 51

Max. Input pulse frequency is 200Kpps
Max. Input pulse frequency is 200Kpps

SG
Pulse input (Line driver). It requires 5 V power supply only. Never apply a 24 V power supply.

High-speed pulse input (Line driver)

Controller

Servo Drive

HSIGN 46 /HSIGN 40

2K 100
2K

MCCB AC200/230V

MC

Single-phase/

R

Three-phase

S

50/60Hz

T

ASDA-M Series Servo Drive

3 groups

Pulse Input ( Line Driver)

±10V

10K

High-speed Pulse Input (Line Receiver)

Twisted-pair or 10K

twisted-shield cable

10K

SG

SON CCLR
TCM0 TCM1 ARST EMGS

L1c L2c

CN1

//SSIIGNN 37 SSIIGGNN 36

/PULSE 41
1 0K 
PULSE 43

T-REF GND

18 13 10K

/HSIGN 40

HSIGN 46

/HPULSE 29

HPULSE 38

MON1 16

GND MON2

12,13,19
15 DC 24V

VDD

17

COM+ 11

COM- 45,47,49

DI1 DI2 DI3 DI4 DI5 DI 6

9

4.7K

10

4.7K

34

4.7K

4.7K
8

4.7K
33

4.7K
32

24V

SRDY 1.5K ZSPD 1.5K

HOME 1.5K

DO1+

7

DO1-

6

DO2+

5

DO2-

4

DO3+

3

DO3-

2

A Phase Pulse

Encoder Pulse Output

B Phase Pulse Z Phase Pulse

Z Phase Open Collector

OA

21

/OA

22

OB

25

/OB

23

OZ

50

/OZ

24

OCZ GND

48 13
Max. Output Current 50mA Voltage 30V

HPULSE 38 /HPULSE 29

2K 100 2K

SG GND

13 GND

High-speed pulse input (Line driver). It requires 5 V power supply only. Never apply a 24 V power supply.

* The wiring method of Pull-hi_S and Pull-hi_P is different from the ASDA-A2 Series. The purpose of this design is for connecting a PNP Transistor in a circuit.

P D C

Regenerative Resistor

U

Red

White

V

Black
W

Green

24V EMGS BRKR *1

CN2

5 T+ Blue

4 T- Blue/Black

7

- Green

9

- Green/Black

SG

14,16 +5V Red

13,15 GND Black

3 groups
Power Supply
Brake
Encoder
Twisted-pair or twisted-shield cable

CN3

6 RS485-

5 RS485+

4 RS232_RX

3

-

2 RS232_TX

1 GND

CN4

1 +5V DC

2 Data-

3 Data+

4 GND

CN5 8 4 5 3 2 9 1 6 7

+5V Opt A Opt/A Opt B Opt/B Opt Z Opt/Z GND GND

3 groups

CN6 CANopen / DMCNET *²

1, 9

CAN H / FRA1

2, 10 CAN H / FRA1

3, 11

- / FRA2

4, 12

-

5, 13

-

6, 14

-

7, 15

- / FRB2

8, 16

-

Please note: *1: The brake oil has no polarity. * 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication. The CN6 port of ASD-M-xxxx-F models are for DMCNET communication.

23

Position (PR) Control Mode (for Internal Procedure Control)

MCCB MC

AC200/230V

R

Three-phase

S

50/60Hz

T

ASDA-M Series Servo Drive

L1c L2c

3 groups

±10V

10K

Twisted-pair or 10K

twisted-shield

cable

10K

SG

SON CTRG POS0 POS1 ARST EMGS

T-REF GND MON1 GND MON2 VDD COM+ COMDI1 DI2 DI3 DI4 DI5 DI6

CN1

10K

18 13 10K

16

12,13,19
15

DC 24V

17

11

45,47,49

9

4.7K

10

4.7K

34

4.7K

8

4.7K

33

4.7K

4.7K
32

24V

SRDY 1.5K ZSPD 1.5K

HOME 1.5K

DO1+ 7

DO1-

6

DO2+ 5

DO2-

4

DO3+

3

DO3-

2

A Phase Pulse

Encoder Pulse Output

B Phase Pulse Z Phase Pulse

Z Phase Open Collector

OA /OA OB /OB OZ /OZ
OCZ GND

21 22 25 23 50 24
48 13
Max. Output Current 50mA Voltage 30V

P

D

Regenerative Resistor

C

U Red

V

White

Black

W

Green

24V

EMGS BRKR *1

CN2

5 T+ Blue 4 T- Blue/Black

7

- Green

9

- Green/Black

SG

14,16 +5V Red

13,15 GND Black

3 groups
Power Supply
Brake
Encoder
Twisted-pair or twisted-shield cable

CN3

6 RS485-

5 RS485+

4 RS232_RX

3

-

2 RS232_TX

1 GND

CN4 1 2 3 4

+5V DC DataData+ GND

CN5 8 4 5 3 2 9 1 6 7

+5V Opt A Opt /A Opt B Opt /B Opt Z Opt /Z GND GND

3 groups

CN6 1, 9 2, 10 3, 11 4, 12 5, 13 6, 14 7, 15 8, 16

CANopen / DMCNET *²
CANH / FRA1 CANL / FRAB1
- / FRA2 -
- / FRB2 -

Please note: *1: The brake oil has no polarity. * 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication. The CN6 port of ASD-M-xxxx-F models are for DMCNET communication.

24

Wiring
Speed (S, Sz) Control Mode (for Analog Voltage Input and Internal Parameter Setting)

MCCB MC

AC200/230V

R

Three-phase

S

50/60Hz

T

L1c L2c

ASDA-M Series Servo Drive

3 groups

CN1

1 0K 

±10V

1 0K

V-REF GND

42

10K

44

1 0K

±10V

10K

T-REF GND

18

13

10K

Twisted-pair or 10K

twisted-shield cable

10K

MON1 16

GND 12,13,19

MON2

15

DC 24V

SG

VDD

17

COM+ 11

SON TRQLM
SPD0 SPD1 ARST EMGS

COMDI1 DI2 DI3 DI4 DI5 DI16

45,47,49
9 10 34 8 33 32

4.7K 4.7K 4.7K 4.7K 4.7K 4.7K

24V

SRDY 1.5K ZSPD 1.5K TSPD 1.5K

DO1+ 7

DO1-

6

DO2+ 5

DO2-

4

DO3+ 3

DO3-

2

A Phase Pulse

Encoder Pulse Output

B Phase Pulse Z Phase Pulse

Z Phase Open Collector

OA

21

/OA

22

OB

25

/OB

23

OZ

50

/OZ

24

OCZ GND

48 13
Max. Output Current 50mA Voltage 30V

P

D

Regenerative Resistor

C

U

Red

White

V

W

Black

Green

24V EMGS BRKR *1

CN2

5 T+ Blue

4

T- Blue/Black

7

- Green

9

- Green/Black

SG

14,16 +5V Red

13,15 GND Black

3 groups
Power Supply
Brake
Encoder
Twisted-pair or twisted-shield cable

CN3

6 RS485-

5 RS485+

4 RS232_RX

3

-

2 RS232_TX

1 GND

CN4 1 +5V DC 2 Data3 Data+ 4 GND

CN5 8 4 5 3 2 9 1 6 7

+5V Opt A Opt/A Opt B Opt/B Opt Z Opt/Z GND GND

3 groups

CN6 1, 9 2, 10 3, 11 4, 12 5, 13 6, 14 7, 15 8, 16

CANopen / DMCNET *² CAN H / FRA1 CAN H / FRA1 - / FRA2 - / FRB2 -

Please note: *1: The brake oil has no polarity. * 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication. The CN6 port of ASD-M-xxxx-F models are for DMCNET communication.

25

Torque (T, Tz) Control Mode (for Analog Voltage Input and Internal Parameter Setting)

MCCB MC

AC200/230V

R

Three-phase

S

50/60Hz

T

L1c L2c

ASDA-M Series Servo Drive

3 groups

CN1

10K

±10V

10K

V-REF GND

42

10K

44

10K

± 1 0V

10K

T-REF GND

18 13 10K

Twisted-pair or 10K

twisted-shield

cable

10K

MON1 16

GND 12,13,19

MON2

15

DC 24V

SG

VDD

17

COM+ 11

COM- 45,47,49

SON SPDLM
TCM0 TCM1 ARST EMGS

DI1 DI2 DI3 DI4 DI5 DI6

9

4.7K

10

4.7K

34

4.7K

4.7K
8

4.7K
33
4.7K
32

24V

SRDY 1.5K ZSPD 1.5K TSPD 1.5K

DO1+

7

DO1-

6

DO2+

5

DO2-

4

DO3+

3

DO3-

2

A Phase Pulse

Encoder Pulse Output

B Phase Pulse Z Phase Pulse

Z Phase Open Collector

OA

21

/OA

22

OB

25

/OB

23

OZ

50

/OZ

24

OCZ GND

48
13
Max. Output Current 50mA Voltage 30V

P

D

Regenerative

3 groups

Resistor

C

U Red

V

White

W

Black

Green

CN2

Power Supply
24V EMGS BRKR *1 Brake
Encoder

5 T+ Blue

4 T- Blue/Black

7

- Green

Twisted-pair or twisted-shield cable

9

- Green/Black

SG

14,16 +5V Red

13,15 GND Black

CN3

6 RS485-

5 RS485+

4 RS232_RX

3

-

2 RS232_TX

1 GND

CN4 1 2 3 4

+5V DC DataData+ GND

CN5 8 4 5 3 2 9 1 6 7

+5V Opt A Opt /A Opt B Opt /B Opt Z Opt /Z GND GND

3 groups

CN6 1, 9 2, 10 3, 11 4, 12 5, 13 6, 14 7, 15 8, 16

CANopen / DMCNET *²
CANH / FRA1 CANL / FRAB1
- / FRA2 -
- / FRB2 -

Please note: *1: The brake oil has no polarity. * 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication. The CN6 port of ASD-M-xxxx-F models are for DMCNET communication.

26

Wiring
CANopen / DMCNET Communication Mode ( for ASDA-M-M Series and ASDA-M-F Series )

MCCB MC

AC200/230V

R

Three-phase

S

50/60Hz

T

L1c L2c

3 groups

ASDA-M Series Servo Drive

Reserved Reserved
ORGP NL PL
EMGS

VDD COM+ COM-
Di1 DI2 DI3 DI4 DI5 DI6

CN1
17 11
45,47,49
19 10 34 8 33 32

DC 24V
4.7K 4.7K 4.7K 4.7K 4.7K 4.7K

24V

SRDY 1.5K ZSPD 1.5K

HOME 1.5K

DO1+

7

DO1-

6

DO2+

5

DO2-

4

DO3+

3

DO3-

2

A Phase Pulse

Encoder Pulse Output

B Phase Pulse Z Phase Pulse

Z Phase Open Collector

OA

21

/OA

22

OB

25

/OB

23

OZ

50

/OZ

24

OCZ GND

48 13
Max. Output Current 50mA Voltage 30V

CN3

RS485-

6

RS485+

5

RS232_RX 4

-

3

RS232_TX 2

GND

1

27

P

D

Regenerative Resistor

3 groups

C

U Red

V

White

W Black

Green

Power Supply
24V EMGS BRKR *1 Brake

CN2

Encoder

5 T+ Blue

4

T- Blue/Black

7

- Green

Twisted-pair or twisted-shield cable

9

- Green/Black

SG

14,16 +5V Red

13,15 GND Black

CN4 1 +5VDC 2 Data3 Data+ 4 GND

CN5 8 4 5 3 2 9 1 6 7

+5V Opt A Opt/A Opt B Opt/B Opt Z Opt/Z GND GND

3 groups

CN6 1 2 3 4 5 6 7 8

CANopen / DMCNET *²
CAN H / FRA1 CAN H / FRA1
- / FRA2 -
- / FRB2 -

Data Input

9

CAN H / FRA1

10

CAN H / FRA1

11

- / FRA2

12

-

13

-

14

-

15

- / FRB2

16

-

Data Input

Please note: *1: The brake oil has no polarity. * 2: The CN6 port of ASD-M-xxxx-M models are
for CANopen communication. The CN6 port of ASD-M-xxxx-F models are for DMCNET communication.

Servo Motor Features
ECMA Series servo motors are permanent AC servo motors. There are six kinds of frame sizes available: 40mm, 60mm, 80mm, 86mm, 100mm and 130mm. The motor speed is up to 5000 r/ min and the torque output can reach 21.48 N-m. In terms of optional configurations, the ECMA Series provides a brake and oil seals to fully support our customers' needs. It also offers two different shaft selections, round shaft and keyway, for various applications.
28

Servo Motor Specifications

Low Inertia Series

ECMA Series
Rated output power (kW) Rated torque (N-m)*1
Maximum torque (N-m) Rated speed (r/min)
Maximum speed (r/min) Rated current (A)
Maximum current (A) Power rating (kW/s) Rotor moment of inertia
(x10-4kg-m2) Mechanical time constant (ms)
Torque constant-KT (N-m/A) Voltage constant-KE(mV/(r/min)
Armature resistance (Ohm) Armature inductance (mH) Electrical time constant (ms)
Insulation class Insulation resistance Insulation strength Weight (kg) (without brake) Weight (kg) (with brake) Max. radial shaft load (N) Max. thrust shaft load (N) Power rating (kW/s) (with brake) Rotor moment of inertia (Kg.m2) (with brake) Mechanical time constant
(ms) (with brake) Brake holding torque [Nt-m (min)]
Brake power consumption (at 20oC) [W]
Brake release time [ms (Max)] Brake pull-in time [ms (Max)]
Vibration grade ( m ) Operating temperature ( oC) Storage temperature ( oC)
Operating humidity Storage humidity Vibration capacity
IP Rating

C104 0F 0.05
0.159 0.477

C 04 01 0.1 0.32 0.96

0.69 2.05 12.27
0.0206
1.14 0.23 9.8 12.7 26 2.05

0.90 2.70 27.7
0.037
0.75 0.36 13.6 9.30 24.0 2.58

0.42

0.5

--

0.8

78.4

78.4

39.2

39.2

--

25.6

--

0.04

C 06

02

04  S

0.2

0.4

0.64

1.27

1.92

3.82

3000

5000

1.55

2.6

4.65

7.8

22.4

57.6

C 04 0.4 1.27 3.82

08 07 0.75 2.39 7.16

2.6

5.1

7.8

15.3

24.0

50.4

0.177

0.277

0.68

1.13

0.80 0.41 16 2.79 12.07 4.3
1.2 1.5 196 68 21.3

0.53

0.74

0.63

0.49

0.49

0.47

17.4

18.5

17.2

1.55

0.93

0.42

6.71

7.39

3.53

4.3

7.96

8.36

Class A (UL), Class B (CE) 100M DC 500V

1.8k VAC,1 sec

1.6

2.1

3.0

2.0

2.9

3.8

196

245

245

68

98

98

53.8

22.1

48.4

0.19

0.30

0.73

1.18

C 09

07

10

0.75

1.0

2.39

3.18

7.14

8.78

3000

3000

3.66

4.25

11

12.37

29.6

38.6

1.93

2.62

1.72 0.65 24.2 1.34 7.55 5.66

1.20 0.75 27.5 0.897 5.7 6.35

C 10 10 1.0 3.18 9.54 3000 5000 7.3 21.9 38.1
2.65
0.74 0.44 16.8 0.20 1.81 9.3

2.9

3.8

4.3

3.69

5.5

4.7

245

245

490

98

98

98

29.3

37.9

30.4

1.95

2.67

3.33

--

0.81

0.85

0.57

0.78

0.65

1.74

1.22

0.93

--

0.3

1.3

1.3

2.5

2.5

2.5

2.5

8

--

7.3

6.5

6.5

8.2

8.2

8.2

8.2

18.7

--

5

10

10

10

10

10

10

10

--

25

70

70

70

70

70

70

70

15

0 CO to 40 CO

-10 CO to 80 CO

20 to 90%RH (non-condensing)

20 to 90%RH (non-condensing) 2.5G

IP65 (when waterproof connectors are used, or when an oil seal is fitted to the rotating shaft (an oil seal model is used)

Certifications

IEC/EN 61800-5-1UL 508C

Footnote:
*1. Rate torque values are continuous permissible values at 0~ 40°C ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-_ _ 04 / 06 / 08250mm x 250mm x 6mm ECMA-_ _ 10300mm x 300mm x 12mm ECMA-_ _ 13400mm x 400mm x 20mm Material type : Aluminum F40, F60, F80, F100, F130
*2. The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it for decelerating or stopping the machine.

29

Medium / Medium-High / High Inertia Series - 220V Series

ECMA Series
Rated output power (kW) Rated torque (N-m)*1
Maximum torque (N-m) Rated speed (r/min)
Maximum speed (r/min) Rated current (A)
Maximum current (A) Power rating (kW/s) Rotor moment of inertia
(x10-4kg-m2) Mechanical time constant (ms)
Torque constant-KT (N-m/A) Voltage constant-KE(mV/(r/min)
Armature resistance (Ohm) Armature inductance (mH) Electrical time constant (ms)
Insulation class Insulation resistance Insulation strength Weight (kg) (without brake) Weight (kg) (with brake) Max. radial shaft load (N) Max. thrust shaft load (N) Power rating (kW/s) (with brake) Rotor moment of inertia (Kg.m2) (with brake) Mechanical time constant
(ms) (with brake) Brake holding torque [Nt-m (min)]
Brake power consumption (at 20oC) [W]
Brake release time [ms (Max)] Brake pull-in time [ms (Max)]
Vibration grade ( m ) Operating temperature ( oC) Storage temperature ( oC)
Operating humidity Storage humidity Vibration capacity
IP Rating

05 0.5 2.39 7.16
2.9 8.7 7.0 8.17 1.91 0.83 30.9 0.57 7.39 12.96

E 13 10 1.0 4.77 14.3 2000 3000 5.6 16.8 27.1
8.41
1.51 0.85 31.9 0.47 5.99 12.88

15 1.5 7.16 21.48
8.3 24.9 45.9 11.18 1.10 0.87 31.8 0.26 4.01 15.31

6.8

7.0

7.5

8.2

8.4

8.9

490

490

490

98

98

98

6.4

24.9

43.1

8.94

9.14

11.90

G 13

03

06

09

0.3

0.6

0.9

2.86

5.73

8.59

8.59

17.19

21.48

1000

2000

2.5

4.8

7.5

7.5

14.4

22.5

10.0

39.0

66.0

8.17

8.41

11.18

1.84

1.40

1.06

1.15

1.19

1.15

42.5

43.8

41.6

1.06

0.82

0.43

14.29

11.12

6.97

13.55

13.50

16.06

Class A (UL), Class B (CE) 100M DC 500V

1.8k VAC,1 sec

6.8

7.0

7.5

8.2

8.4

8.9

490

490

490

98

98

98

9.2

35.9

62.1

8.94

9.14

11.9

F 13 08 0.85 5.41 13.8 1500 3000 7.1 19.4
21.52
13.6
2.43 0.76 29.2 0.38 4.77 12.55

C 06 04  H
0.4 1.27 3.82 3000 5000 2.6 7.8 21.7
0.743
1.42 0.49 17.4 1.55 6.71 4.3

C 08 07  H
0.75 2.39 7.16 3000 5000 5.1 15.3 19.63
2.91
1.6 0.47 17.2 0.42 3.53 8.36

8.6

1.8

3.4

10.0

2.2

3.9

490

196

245

98

68

98

19.78

21.48

19.3

14.8

0.751

2.96

2.07

1.64

1.19

2.0

1.51

1.13

2.65

1.43

1.62

10.0

10.0

10.0

10.0

10.0

10.0

10.0

1.3

1.3

19.0

19.0

19.0

19.0

19.0

19.0

19.0

6.5

6.5

10

10

10

10

10

10

10

10

10

70

70

70

70

70

70

70

70

70

15

0 CO to 40 CO (32 OF to 104 OF)

-10 CO to 80 CO (-14 OF to 176 OF)

20 to 90%RH (non-condensing)

20 to 90%RH (non-condensing)

2.5G

IP65 (when waterproof connectors are used, or when an oil seal is fitted to the rotating shaft (an oil seal model is used)

Certifications

IEC / EN 61800-5-1UL 508C

Footnote:
*1. Rated torque values are continuous permissible values at 0 ~ 40°C ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-_ _ 04 / 06 / 08250mm x 250mm x 6mm ECMA-_ _ 10300mm x 300mm x 12mm ECMA-_ _ 13400mm x 400mm x 20mm Material type : Aluminum F40, F60, F80, F100, F130
*2. The holding brake is used to hold the motor shaft, not for braking the rotation. Never use it for decelerating or stopping the machine.
*3. To reach the motor's max. torque limit of 250%, use the servo drive with higher watts.

30
PLC1.ir

Servo Motor Dimensions
Frame Size 86mm and below

Model LC LZ LA S
LB LLW/O Brake LLWith Brake
LS LR LE LG LW RH WK W T
TP

C1040F S

40

4.5

46

8

(

+0 - 0.009

)

30

(

+0 - 0.021

)

79.1

--

20

25

2.5

5

16

6.2

3

3

3

-

C 0401 S

40

4.5

46

8

(

+0 - 0.009

)

30

(

+0 - 0.021

)

100.6

136.8

20

25

2.5

5

16

6.2

3

3

3

M3 Depth 8

C 0602 S

60

5.5

70

14

(

+0 - 0.011

)

50

(

+0 - 0.025

)

105.5

141.6

27

30

3

7.5

20

11

5

5

5

M4 Depth 15

C 0604 S

60

5.5

70

14

(

+0 - 0.011

)

50

(

+0 - 0.025

)

130.7

166.8

27

30

3

7.5

20

11

5

5

5

M4 Depth 15

1) Dimensions are in millimeters. 2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes (  ) in the model names are for optional configurations (keyway, brake and oil seal).
4) The triangles ( ) in the model names are for encoder resolution types ( =1: Incremental encoder, 20-bit;

=2: Absolute encoder, 17-bit).

C 0604

60

5.5

70

14

(

+0 - 0.011

)

50

(

+0 - 0.025

)

145.8

176.37

27

30

3

7.5

20

11

5

5

5

M4 Depth 15

Torque Curves (T-N Curves)

Torque (N-m)

Torque (N-m)

Torque (N-m)

Torque (N-m)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-C1040F  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-C  0401  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-C  0602  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-C  0804  S ECMA-C  0804  H ECMA-C  0804  7

Speed (r/min)

31

Units: mm

H

C 0804 7

C 0807 S

C 0807 H

C 0907 S

C 0910 S

80

80

80

86

86

6.6

6.6

6.6

6.6

6.6

90

90

90

)

14

(

+0 - 0.011

)

19

(

+0 - 0.013

)

19

(

+0 - 0.013

)

)

70

(

+0 - 0.030

)

70

(

+0 - 0.030

)

70

(

+0 - 0.030

)

100

16

(

+0 - 0.011

)

80

(

+0 - 0.030

)

100

16

(

+0 - 0.011

)

80

(

+0 - 0.030

)

112.3

138.3

151.1

130.2

153.2

152.8

178

189

161.3

184.3

27

32

32

30

30

30

35

35

35

35

3

3

3

3

3

8

8

8

8

8

20

25

25

20

20

11

15.5

15.5

13

13

5

6

6

5

5

5

6

6

5

5

5

6

6

5

5

M4 Depth 15

M6 Depth 20

M6 Depth 20

M5 Depth 15

M5 Depth 15

Torque (N-m)
Intermittent Duty Zone Continuous Duty Zone
ECMA-C  0807  S ECMA-C  0807  H

Torque (N-m)

Speed (r/min)

7.14 (298%)

6.00 (251%)
2.38 (100%)

Intermittent Duty Zone Continuous Duty Zone

ECMA-C10907  S

Speed (r/min)

Torque (N-m)
8.78 (276%)
5.85 (184%)

3.18 (100%)

Intermittent Duty Zone Continuous Duty Zone

Speed (r/min) 2,000 3,000

ECMA-C10910  S

32

Servo Motor Dimensions
Frame Size 100m ~ 130m

LG

LR

LE

LS LW

0 W -0.036

T
KEY DETAILS TP

0 -0.036

Sh6 LBh7
LC

LL

4-Z

PCD-A

RH SHAFT END DETAILS

Model

C 1010 S

LC

100

LZ

9

LA

115

S
LB LLW/O Brake

22

(

+0 - 0.013

)

95

(

+0 - 0.035

)

153.3

LLWith Brake

192.5

E 1305 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

147.5

183.5

E 1310 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

147.5

183.5

E 1315 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

167.5

202

F 1308 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

152.5

181

G 1303 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

147.5

183.5

G 1306 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

147.5

183.5

Units: mm

G 1309 S

130

9

145

22

(

+0 - 0.013

)

110

(

+0 - 0.035

)

163.5

198

LS

37

47

47

47

47

47

47

47

LR

45

55

55

55

55

55

55

55

LE

5

6

6

6

6

6

6

6

LG

12

11.5

11.5

11.5

11.5

11.5

11.5

11.5

LW

32

36

36

36

36

36

36

36

RH

18

18

18

18

18

18

18

18

WK

8

8

8

8

8

8

8

8

W

8

8

8

8

8

8

8

8

T

7

7

7

7

7

7

7

7

TP

M6 Depth 20

M6 Depth 20

M6 Depth 20

M6 Depth 20

M6 Depth 20

M6 Depth 20

M6 Depth 20

M6 Depth 20

1) Dimensions are in millimeters. 2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes (  ) in the model names are for optional configurations (keyway, brake and oil seal).
4) The triangles ( ) in the model names are for encoder resolution types ( =1: Incremental encoder, 20-bit;

=2: Absolute encoder, 17-bit).

Torque Curves (T-N Curves)

Torque (N-m)

Torque (N-m)

Torque (N-m)

Torque (N-m)

Torque (N-m)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-C  1010  S
Torque (N-m)

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-E  1305  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-E  1310  S

Torque (N-m)

Torque (N-m)

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-E  1315  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
2,300 ECMA-F  1308  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-G  1303  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-G  1306  S

Speed (r/min)

Intermittent Duty Zone
Continuous Duty Zone
ECMA-G  1309  S

Speed (r/min)

33

DMCNET Remote Modules
Digital I/O Remote Modules
 ASD-DMC-RM32MN / ASD-DMC-RM32NT  ASD-DMC-RM64MN / ASD-DMC-RM64NT

Electrical Specifications

Item

Circuit Type

Signal Type

Power Supply Voltage

Response Time / Work Frequency

Active Level (OFF

ON)

Active Level (ON

OFF)

Noise Immunity

Operation / Storage Environment

RM32MN / RM64MN

RM32NT / RM64NT

Single SINK / SOURCE

Transistor SINK

24VDC (5mA)
0 ~ 3ms (adjustable)  16.5VDC  8VDC

24VDC (0.1A / 1 Point) 1KHz 20µs 30µs

ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Communication I/O: 1KV
RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1GHz, 10V/m
Operation: 0ºC ~ 50ºC (32ºF ~ 122ºF) Storage: -20ºC ~ 70ºC (-4ºF ~ 158ºF)

Installation & Wiring

HMC

HMC

ASDA-A2

ASDA-M

OR

L: 100 mm
H: 43 mm L: 100 mm H: 43 mm

W: 75 mm W: 75 mm

34

ASDA-A2

ASDA-M

OR

L: 168 mm
H: 43 mm L: 168 mm
H: 43 mm

W: 75 mm W: 75 mm

DMCNET Remote Modules

Pulse Remote Modules

 ASD-DMC-RM04PI

Electrical Specifications

ASD-DMC-RM04PI

ASD-DMC-RM04PI

Item

Input (QA,QB,QZ,DI1,DI2)

Circuit Type

Single

Signal Type

SINK

Power Supply Voltage
Work Frequency

5VDC
QA, QB, QZ200KHz (5mA / 1 Point) QA, QB,QZ: 200KHz (5mA/1 Point)

Noise Immunity

· ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
· EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Communication I/O: 1KV
· RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1GHz, 10V/m

Operation / Storage Environment

Operation: 0ºC ~ 50ºC (32ºF ~ 122ºF) Storage: -20ºC ~ 70ºC (-4ºF ~ 158ºF)

Item

Input (QA,QB,QZ,DI1,DI2) Output (MEL,PEL,ORG,SLD)

Circuit Type

Single

Transistor

Signal Type

SINK / SOURCE

SINK

Power Supply Voltage
Work Frequency

24VDC (5mA) 1ms

5~24VDC (30mA / 1 Point) CW, CCW200KHz DO1, DO21KHz

Active Level

(OFF

ON)

 16.5VDC

--

Active Level

(OFF

ON)

 8VDC

--

Noise Immunity

· ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
· EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Communication I/O: 1KV
· RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1GHz, 10V/m

Operation / Storage Environment

Operation: 0ºC ~ 50ºC (32ºF ~ 122ºF) Storage: -20ºC ~ 70ºC (-4ºF ~ 158ºF)

HMC

ASDA-A2

OR

ASDA-M

Stepping Motors
35

Analog I/O Remote Modules

 ASD-DMC-RM04DA / ASD-DMC-RM04AD

Electrical Specifications

ASD-DMC-RM04DA

ASD-DMC-RM04AD

Item

Analog to Digital - Input Point (RM04AD)

Analog Output Channel

4-Channel / Module

Range of Analog Voltage Output

-10 ~ 10V ; -5 ~ 5V ; 0 ~ 10V ; 0 ~ 5V

Range of Analog Current Output

0 ~ 24mA ; 0 ~ 20mA ; 4 ~ 20mA

Over Range of Analog Output

10%

Max. Output Current

20mA

Allowable Load Impedance

0 ~ 500

Range of Digital Data

0 ~ 4096

Resolution

16 bits

DC Output Impedance Response Time

0.3 1ms

Digital Data Format Isolation

16bits
Internal circuit and analog output terminals are isolated by optical coupler.

Protection Noise Immunity

Voltage output is protected by a circuit breaker. But, a short circuit lasting for too long may cause damage to internal circuits. Current output can be open circuit.
· ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
· EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV,
· Communication I/O: 1KV · RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~
1GHz, 10V/m

Operation / Storage Environment

Operation: 0ºC ~ 50ºC (32ºF ~ 122ºF) Storage: -20ºC ~ 70ºC (-4ºF ~ 158ºF)

Item

Analog to Digital - Input Point (RM04AD)

Analog Output Channel

4-Channel / Module

Range of Analog Voltage Output

-10 ~ 10V ; -5 ~ 5V ; 0 ~ 10V ; 0 ~ 5V

Range of Analog Current Output

0 ~ 24mA

Range of Digital Data

0 ~ 65535

Resolution

16 bits

Voltage Input Impedance Current Input Impedance
Overall Accuracy

140
249
±0.5% when in full scale (25ºC, 77ºF) ±1% when in full scale within the range of 0ºC ~
55ºC, 32ºF ~ 131ºF

Response Time

Min. 1ms. Max. 3ms × the number of channels

Isolation

Internal circuit and analog output terminals are isolated by optical coupler.

Range of Absolute Voltage Input

-15 ~ 15 V

Range of Absolute Current Input

32mA

Digital Data Format Noise Immunity

16bits
· ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
· EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV,
· Communication I/O: 1KV · RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~
1GHz, 10V/m

Operation / Storage Environment

Operation: 0ºC ~ 50ºC (32ºF ~ 122ºF) Storage: -20ºC ~ 70ºC (-4ºF ~ 158ºF)

HMC

HMC

ASDA-A2

ASDA-M

OR

ASDA-A2

ASDA-M

OR

36

Part Names and Functions

 LED Display / Operation Panel
 LED Display The 5 digit, 7 segment LED displays the servo status or fault codes
 Operation Panel Function keys used to perform status display, monitor and diagnostic, function and parameter setting.
 Function Keys: MODE: Press this key to select/change mode SHIFT: Press this key to shift cursor to the left UP: Press this key to increase values on the display DOWN: Press this key to decrease values on the display SET: Press this key to store data
 I/O Interface
 Used to connect Delta's DVP Series PLC or other external controllers for controlling I/O signals.

 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.

 Full-Closed Loop Control Interface
 Used to connect linear scale and encoder for controlling A, B, Z phase signals for inputs of X, Y, Z axes.

 Motor Encoder Interface
 Used to connect the encoder of the servo motor and feedback the signals to X, Y, Z axes of the servo drive.
 Serial Communication Port
 Used to connect PLC, HMI, and other controllers for RS-485 / RS-232 serial communication.
 Ground Terminal
 Used to connect grounding wire of power supply and servo motor.
 High-speed Communication Port
 Used to connect CANopen networks.  DMCNE Tinterface, supporting motion modes for CANopen
DS402 implementation.  CANbus interface, supporting motion modes for CANopen
DS402 implementation.
 USB Connection Port
Ver 1.1 USB is equipped as standard.  Direct connectivity to personal computers or notebooks, capable of accessing data
through ASDA-Soft configuration software.  Remote monitoring speed via ASDA-Soft configuration software is up to 1 Mbps.

37

 Control Circuit Terminal / Main Circuit Terminal / Internal & External Regenerative Resistor Terminal
 Control Circuit Terminal (L1c, L2c) L1c, L2c are used to connect 200~230Vac, 50/60Hz single-phase or threephase power supply.
 Main Circuit Terminal (R, S, T) Used to connect 200~230Vac, 50/60Hz commercial power supply.
 When using an external braking unit, connect it to P and .
 Internal & External Regenerative Resistor Terminal 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 open between P and C. (Note: Please refer to the table of regenerative resistor specifications for the models with a built-in regenerative resistor.) 3. When using an external braking unit, connect it to P and , and ensure an open circuit between P and D, and P and C.
 Ground Terminal
 Used to connect grounding wire of power supply and servo motor.
 Servo Motor Output (U, V, W)
 Used to connect servo motor. Never connect the output terminal to main circuit power as the AC drive may be damaged beyond repair if incorrect cables are connected to the output terminals.
 Ground Terminal
 Used to connect grounding wire of power supply and servo motor.
The figures are for illustration purposes only. Actual models may differ slightly in appearance from illustrations provided.
38

Optional Accessories
 Quick Connectors
 Used for 750 W to 1.5 kW servo drives  One operating lever is provided for wire
to terminal block insertion.
 Power Cables
 3 m and 5 m standard cables are available.  Customized service is offered to meet the
needs of customers.  Two types are selectable: with brake and
without brake.
 Encoder Cables
 3 m and 5 m standard cables are available.  Customized service is offered to
meet the needs of customers.
 RS-232 Communication Cables
 Connects ASDA-M to PLC, HMI, and other controllers via RS-232 communication.
 Standard cable length is 3 m.  Delta Part Number: ASD-CARS0003
39

PLC1.ir

 Terminal Block Modules
 Easy installation and wiring 0.5 m connection cable is provided.
 Easy to reduce the space required.  Easy to expand system's I/O
configuration.  Delta Part Number: ASD-BM-50A
 Regenerative Resistors
 For selecting a regenerative resistor, please refer to the table of regenerative resistor specifications on page 50.
 USB Communication Cables (for PC)
 Connects ASDA-A2 to a PC (via ASDA-Soft configuration software)
 USB1.1 is equipped as standard.  Delta Part Number: DOP-CAUSBAB
 CANopen Accessories
 Delta's TAP-CN03 distribution box connects ASDA-A2 to Delta's PLC CAN Master.
 For selecting CANopen accessories, please refer to the table of other accessories on page 49.
 RS-485 Connectors
 Used to connect multiple ASDA-M systems by RS -485 interface through Modbus serial communication.
 Delta Part Number: ASD-CNIE0B06
The figures are for illustration purposes only. Actual models may differ slightly in appearance from illustrations provided.
40

Optional Cables and Connectors

Power Connectors

ASDBCAPW0000

ASDBCAPW0100

ASD-CAPW1000

3106A-20-18S

Power Cables
ASD-ABPW0003, ASD-ABPW0005

Item
1 2

Part No.
ASD-ABPW0003 ASD-ABPW0005

L

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

ASD-ABPW0103, ASD-ABPW0105

L

Item
1 2

Part No.
ASD-ABPW0103 ASD-ABPW0105

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

41

Power Cables
ASD-CAPW1003, ASD-CAPW1005

(50mm) (1.97mm)

L

Item
1 2

Part No.
ASD-CAPW1003 ASD-CAPW1005

Straight
3106A-20-18S 3106A-20-18S

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

(80 mm) (3.15 mm)

ASD-CAPW1103,ASD-CAPW1105

(50mm) (1.97inch)

L

Item
1 2

Part No.
ASD-CAPW1103 ASD-CAPW1105

Straight
3106A-20-18S 3106A-20-18S

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

(80mm) (3.15inch)

42

Optional Cables and Connectors
Encoder Connectors

ASD-ABEN0000

ASD-CAEN1000

Encoder Cables
ASD-ABEN0003, ASD-ABEN0005

Item
1 2

Part No.
ASD-ABEN0003 ASD-ABEN0005

L

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

ASD-CAEN1003, ASD-CAEN1005

L

Item
1 2

Part No.
ASD-CAEN1003 ASD-CAEN1005

Straight
3106A-20-29S 3106A-20-29S

L mm 3000 ± 100 5000 ± 100

inch 118 ± 4 197 ± 4

43

Optional Cables and Connectors
I/O Signal Connector
ASD-CNSC0050

Terminal Block Module
ASD-BM-50A
0.5m

8 866..88mmm 5 500..77mmm

RS-232 Communication Cable
ASD-CARS0003
L

141646..44mmm

Item 1

Part No. ASD-CARS0003

L

mm

inch

3000 ± 100 118 ± 4

Communication Cable between Drive and Computer (for PC)

DOP-CAUSBAB

A P4 P1

120.5

140030
CONDUCTOR INSULATOR
ALUMINUM TINNED COPPER BRAID PVC JACKET

120.5

B

P2

P3

P1

P4

Item 1

Part No. DOP-CAUSBAB

L

mm

inch

1400 ± 30 55 ± 1.2

44

CANopen Communication Cable

TAP-CB03, TAP-CB05

L ± 10

8 H1
1

8
H2 1

Item
1 2

Part No.
TAP-CB03 TAP-CB05

L

mm

inch

300 ± 10 11 ± 0.4

500 ± 10 19 ± 0.4

CANopen Distribution Box

TAP-CN03

66.50[2.62]

87.00[3.43] 42.00[1.65]

RS-485 Connector
ASD-CNIE0B06

Accessories images shown here may differ from actual product appearance. Please refer to the actual product appearance.
45

Accessories Combinations

750W Servo Drive and 50W Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-C1040F S

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

750W Servo Drive and 100W Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-C  0401 S

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

750W Servo Drive and 200W Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-C  0602 S

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

46

Accessories Combinations

750W Servo Drive and 400W Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-C  0604 S ECMA-C  0604 H ECMA-C  0804 7

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

750W Servo Drive and 500W Medium Inertia Servo Motor

Servo Drive

ASD-M-0721-

Medium Inertia Servo Motor

ECMA-E  1305 S

Power Cable (Without Brake)

ASD-CAPW100X

Power Cable (With Brake)

ASD-CAPW110X

Power Connector

ASD-CAPW1000

Power Connector (With Brake)

ASD-CAEN100X

Incremental Encoder Cable

ASD-CAEN100X

Absolute Encoder Cable

ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

750W Servo Drive and 300W High Inertia Servo Motor

Servo Drive

ASD-M-0721-

High Inertia Servo Motor

ECMA-G  1303 S

Power Cable (Without Brake)

ASD-CAPW100X

Power Connector (Without Brake)

ASD-CAPW110X

Power Cable (With Brake)

ASD-CAPW1000

Power Connector (With Brake)

ASD-CAEN100X

Incremental Encoder Cable

ASD-A2EB100X

Absolute Encoder Cable

ASD-CAEN1000

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

47

750W Servo Drive and 750W Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-C  0807 S ECMA-C  0807 H ECMA-C  0907 S

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

750kW Servo Drive and 600kW High Inertia Servo Motor

Servo Drive

ASD-M-1521-

Medium Inertia Servo Motor

ECMA-F  1308 S

Power Cable (Without Brake)

ASD-CAPW100X

Power Cable (With Brake)

ASD-CAPW110X

Power Connector

ASD-CAPW1000

Incremental Encoder Cable

ASD-CAEN100X

Absolute Encoder Cable

ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

1.5kW Servo Drive and 850W High Inertia Servo Motor

Servo Drive

ASD-M-1521-

High Inertia Servo Motor

ECMA-C  1010 S

Power Cable (Without Brake)

ASD-CAPW100X

Power Cable (With Brake)

ASD-CAPW110X

Power Connector

ASD-CAPW1000

Incremental Encoder Cable

ASD-CAEN100X

Absolute Encoder Cable

ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

1.5kW Servo Drive and 1kW Low Inertia Servo Motor

Servo Drive

ASD-M-1521-

Low Inertia Servo Motor

ECMA-C  0910 S

Power Cable (Without Brake)

ASD-ABPW000X

Power Connector (Without Brake)

ASDBCAPW0000

Power Cable (With Brake)

ASD-ABPW010X

Power Connector (With Brake)

ASDBCAPW0100

Incremental Encoder Cable

ASD-ABEN000X

Absolute Encoder Cable

ASD-A2EB000X

Encoder Connector

ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

48

Accessories Combinations

1.5kW Servo Drive and 1kW Low Inertia Servo Motor

Servo Drive

ASD-M-0721-

Low Inertia Servo Motor

ECMA-G  1306 S

Power Cable (Without Brake)

ASD-CAPW100X

Power Cable (With Brake)

ASD-CAPW110X

Power Connector

ASD-CAPW1000

Incremental Encoder Cable

ASD-CAEN100X

Absolute Encoder Cable

ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

1.5kW Servo Drive and 1kW Medium Inertia Servo Motor

Servo Drive Medium Inertia Servo Motor Power Cable (Without Brake)
Power Cable (With Brake) Power Connector

ASD-M-1521ECMA-E  1310 S
ASD-CAPW100X ASD-CAPW110X ASD-CAPW1000

Incremental Encoder Cable

ASD-CAEN100X

Absolute Encoder Cable Encoder Connector

ASD-A2EB100X ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

1.5kW Servo Drive and 900kW High Inertia Servo Motor

Servo Drive High Inertia Servo Motor Power Cable (Without Brake) Power Cable (With Brake)
Power Connector Incremental Encoder Cable
Absolute Encoder Cable

ASD-M-1521ECMA-E  1309 S
ASD-CAPW100X ASD-CAPW110X ASD-CAPW1000 ASD-CAEN100X ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor

Servo Drive

ASD-M-1521-

Medium Inertia Servo Motor

ECMA-E  1315 S

Power Cable (Without Brake) Power Cable (With Brake)

ASD-CAPW100X ASD-CAPW110X

Power Connector Incremental Encoder Cable
Absolute Encoder Cable

ASD-CAPW1000 ASD-CAEN100X ASD-A2EB100X

Encoder Connector

ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)

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 model explanation of the servo drive.
2) The boxes (  ) in the model names represent shaft end/brake or the number of oil seal.
3) The triangles ( ) in the model names represent encoder type. =1: Incremental encoder, 20-bit ; =2: Incremental encoder, 17-bit)

49

Accessories Combinations

Other Accessoriesfor ASDA-M Series all models

Description

Delta Part Number

50-Pin I/O Signal Connector (Cn1)

ASD-CNSC0050

Terminal Block Module

ASD-BM-50A

RS-232 Communication Cable

ASD-CARS0003

Communication Cable between Drive and Computer (for PC)

DOP-CAUSBAB

CANopen Communication Cable

TAP-CB03 / TAP-CB05

CANopen Distribution Box

TAP-CN03 / TAP-CN05

RS-485 Connector Regenerative Resistor 400W 40 Regenerative Resistor 1kW 20 Regenerative Resistor 1.5kW 5

ASD-CNIE0B06 BR400W040 BR1K0W020 BR1K5W005

Safety Information

Global Standards
EMS Standard
Conducted & Radiated Emissions
CE Marking UL Approval Test Standard
Vibration Shock
Pollution Degree

ASDA-M Series is designed to fully comply with demanding international standards, such as IEC and EN, and others. for all fields of industrial automation technology. EN61000-4-6 Level 3 EN61000-4-3 Level 3 EN61000-4-2 Level 2 and 3 EN61000-4-4 Level 3  in the process of application to EN61000-4-4 EN61000-4-8 Level 4 EN61000-4-5 Level 3
Complies with EN550011 Class A Group 1, with external EMC filter
CE recognized. Complies with Directive 2006/95/EC of the European Parliament and EMC Directive 2004/108/EC.  in the process of application to EMC Directive 2004/108/EC UL (U.S.), cUL (Canada) recognized. IEC/EN50178, IEC/EN60529 IP20
1G less than 20Hz, 0.6G 20 to 50Hz. Complies with IEC/EN50178 15gn 11ms. Complies with IEC/EN600028-2-27 Degree 2. Complies with IEC/EN61800-5-1

Regenerative Resistor Specifications

Servo Drive (kW)

Specifications of Built-in Regenerative Resistors

Resistance (parameter P1-52) (Ohm)

Capacity (parameter P1-53) (Watt)

Min. Allowable Resistance (Ohm)

0.75

40

60W

20

1.5

20

100W

10

Note

 When the fault, ALE05 (Regeneration Error) occurs, please increase the regenerative resistor capacity or decrease the regenerative resistor resistance. (The regenerative resistor resistance should not be less than the minimum allowable resistance listed in the above table.)
 If the situation is not improved after increasing the regenerative resistor capacity or decreasing the regenerative resistor resistance, please purchase regenerative resistor module.
 When combining multiple small-capacity regenerative resistors in parallel to increase the regenerative resistor capacity, make sure that the total resistance value of the regenerative resistors is not less than the minimum allowable resistance listed in the above table.

50
PLC1.ir

Industrial Automation Headquarters
Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan District, Taoyuan City 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Shanghai) Co., Ltd. No.182 Minyu Rd., Pudong Shanghai, P.R.C. Post code : 201209 TEL: 86-21-6872-3988 / FAX: 86-21-6872-3996 Customer Service: 400-820-9595
Delta Electronics (Japan), Inc. Tokyo Office Industrial Automation Sales Department 2-1-14 Shibadaimon, Minato-ku Tokyo, Japan 105-0012 TEL: 81-3-5733-1155 / FAX: 81-3-5733-1255
Delta Electronics (Korea), Inc. Seoul Office 1511, 219, Gasan Digital 1-Ro., Geumcheon-gu, Seoul, 08501 South Korea TEL: 82-2-515-5305 / FAX: 82-2-515-5302
Delta Energy Systems (Singapore) Pte Ltd. 4 Kaki Bukit Avenue 1, #05-04, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd. Plot No.43, Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL: 91-124-4874900 / FAX : 91-124-4874945
Delta Electronics (Thailand) PCL. 909 Soi 9, Moo 4, Bangpoo Industrial Estate (E.P.Z), Pattana 1 Rd., T.Phraksa, A.Muang, Samutprakarn 10280, Thailand TEL: 66-2709-2800 / FAX : 662-709-2827
Delta Electronics (Australia) Pty Ltd. Unit 20-21/45 Normanby Rd., Notting Hill Vic 3168, Australia TEL: 61-3-9543-3720
Americas
Delta Electronics (Americas) Ltd. Raleigh Office P.O. Box 12173, 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969
Delta Electronics Brazil São Paulo Sales Office Rua Itapeva, 26 - 3°, andar Edificio Itapeva, One - Bela Vista 01332-000 - São Paulo - SP - Brazil TEL: 55-12-3932-2300 / FAX: 55-12-3932-237
Delta Electronics International Mexico S.A. de C.V. Mexico Office Gustavo Baz No. 309 Edificio E PB 103 Colonia La Loma, CP 54060 Tlalnepantla, Estado de México TEL: 52-55-3603-9200

EMEA
Headquarters: Delta Electronics (Netherlands) B.V. Sales: Sales.IA.EMEA@deltaww.com Marketing: Marketing.IA.EMEA@deltaww.com Technical Support: iatechnicalsupport@deltaww.com Customer Support: Customer-Support@deltaww.com Service: Service.IA.emea@deltaww.com TEL: +31(0)40 800 3900
BENELUX: Delta Electronics (Netherlands) B.V. De Witbogt 20, 5652 AG Eindhoven, The Netherlands Mail: Sales.IA.Benelux@deltaww.com TEL: +31(0)40 800 3900
DACH: Delta Electronics (Netherlands) B.V. Coesterweg 45, D-59494 Soest, Germany Mail: Sales.IA.DACH@deltaww.com TEL: +49(0)2921 987 0
France: Delta Electronics (France) S.A. ZI du bois Challand 2, 15 rue des Pyrénées, Lisses, 91090 Evry Cedex, France Mail: Sales.IA.FR@deltaww.com TEL: +33(0)1 69 77 82 60
Iberia: Delta Electronics Solutions (Spain) S.L.U Ctra. De Villaverde a Vallecas, 265 1º Dcha Ed. Hormigueras ­ P.I. de Vallecas 28031 Madrid TEL: +34(0)91 223 74 20
Carrer Llacuna 166, 08018 Barcelona, Spain Mail: Sales.IA.Iberia@deltaww.com
Italy: Delta Electronics (Italy) S.r.l. Via Meda 2­22060 Novedrate(CO) Piazza Grazioli 18 00186 Roma Italy Mail: Sales.IA.Italy@deltaww.com TEL: +39 039 8900365
Russia: Delta Energy System LLC Vereyskaya Plaza II, office 112 Vereyskaya str. 17 121357 Moscow Russia Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240
Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) erifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye ­ stanbul Mail: Sales.IA.Turkey@deltaww.com TEL: + 90 216 499 9910
GCC: Delta Energy Systems AG (Dubai BR) P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre Dubai, United Arab Emirates Mail: Sales.IA.MEA@deltaww.com TEL: +971(0)4 2690148
Egypt + North Africa: Delta Electronics Unit 318, 3rd Floor, Trivium Business Complex, North 90 street, New Cairo, Cairo, Egypt Mail: Sales.IA.MEA@deltaww.com

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

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