Ecma-E21315rs Cat PDF

$XWRPDWLRQIRUD&KDQJLQJ:RUOG
Delta AC Servo Drive & Motor

ASDA-A2 Series
More Rapid, More Stable, More Precise
Delta Electronics, Inc., a leading manufacturer of industrial automation products, is pleased to
announce the launch of its new high-performance ASDA-A2 series servo motors and servo drives with
motion control.
The current trend for motion control has the control command source close to the drive. In response,
Delta has developed the new ASDA-A2 series that of fers excellent motion control so that the external
controller is almost eliminated. ASDA-A2 series features a built-in electronic cam (E-CAM) function which
provides an excellent solution for flying shear , rotary cut and synchronized motion applications. The all
QHZSRVLWLRQUHJLVWHUFRQWURO35PRGHLVDXQLTXHDQGVLJQL¿FDQWIXQFWLRQWKDWSURYLGHVDYDULHW\RIFRQWURO
modes to enhance system performance.
The ASDA-A2 series also supports various industrial communications protocols, such as CANopen,
DMCNET, EtherCAT which of fers higher performance and high speed communications and enable the
drive to integrate with other part of the automation more ef ficiently and ef fectively. The full-closed loop
control, auto notch filter, vibration suppression and gantry control functions help to perform complex
motions that require high precision and smooth operation. The 20-bit superior resolution encoder which
is essential for accurate positioning applications is equipped as standard. In addition, the outstanding
Capture and Compare functions for high-speed pulses offer the best support for stepless positioning. Other
additional functionality, such as up to 1kHz frequency response, innovative editing software, high-speed
PC monitoring (similar to a digital oscilloscope), and more, all drastically maximize the performance of the
ASDA-A2 series.
Delta's new ASDA-A2 series is the ultimate servo system providing a total solution
for a wide range of machine tools and industrial applications
1
Table of Contents
3 ASDA-A2 Series Features

9 Product Line-up
13 Model Explanation
14 Servo Motor Features
15 6HUYR0RWRU6SHFL¿FDWLRQV
21 Servo Motor Dimensions
29 Part Names and Functions
31 Wiring
39 $6'$6RIW&RQ¿JXUDWLRQ6RIWZDUH
41 Optional Accessories
43 6HUYR'ULYH6SHFL¿FDWLRQV
45 Servo Drive Dimensions
51 Optional Cables and Connectors
61 Servo Drive, Servo Motor and
Accessories Combinations
69 Safety Information
70 5HJHQHUDWLYH5HVLVWRU6SHFL¿FDWLRQV
2
ASDA-A2 Series Features
DT3
High Positioning Accuracy
Ź ECMA series servo motors feature incremental encoders with 20-bit resolution which can eliminate
unstable commands at low speed, smooth motor operation and enhance the accuracy of positioning.
Ź Absolute encoder supported. 17-bit motor position will not get lost when power is cut off.
20-bit, incremental encoder /

17-bit, absolute encoder
ˊ
High Responsiveness
Ź Up to 1kHz frequency response.
Ź Settling time below 1ms.
Ź 7ms acceleration time for speeds from -3000 r/min to 3000 r/min with an empty load!
1RWH7KHWHVWUHFRUGRID:PRWRUZLWKPPIUDPHVL]H

!" $
#

3
Excellent Suppression Functions
Ź Vibration Suppression (Low Frequency)
7ZRYLEUDWLRQVXSSUHVVLRQ¿OWHUVDUHSURYLGHGIRUORQJDUPV\VWHPWRPLQLPL]HWKHYLEUDWLRQDW
machine edges effectively.
Without Suppression With Suppression

Function When Settling Function When Settling
Notch Filter Starts

Ź Resonance Suppression 30
(High Frequency) 20
7ZRDXWRQRWFK¿OWHUVDQG
torque (Amp)
10
RQHPDQXDOQRWFK¿OWHU
are provided to suppress 0
mechanical resonance -10

HI¿FLHQWO\ -20
-30
0 1 2 3 4 5 6 7 t (sec)
Before Suppression After Suppression

2000
1500
Speed (rpm)
1000
500
0
-500
-1000
-1500
-2000
0 1 2 3 4 5 6 7 t (sec)
4
Full-Closed Loop Control Function
Ź 5HGXFHVWKHHIIHFWVRIEDFNODVKDQGÀH[LELOLW\IURPWKHPDFKLQHDQG
ensures the accuracy of positioning.

Ḣ䷏䢣♏
Motor Encoder

Linear Scale
ℰ⭟Ⱑ
Electronic CAM (E-CAM) Function

Ź 720 points max. for E-CAM outline.
Ź 6PRRWKLQWHUSRODWLRQEHWZHHQSRLQWVFDQEHFRPSOHWHGDXWRPDWLFDOO\WR\LHOGDÀH[LEOHSURJUDPPLQJ
Ź $6'$6RIWFRQ¿JXUDWLRQVRIWZDUHVXSSRUWHG
Ź (DV\WRXVHIRUÀ\LQJVKHDUURWDU\FXWDQGRWKHUFDPDSSOLFDWLRQV

ASDA-A2 E-CAM ⊆僤㖣
E-CAM function of ASDA-A2 series
⋬壄㩆ᷱ䙫ㆰ䔏
for packaging machines
and
packaging lines
5
Versatile PR Mode
Ź $6'$6RIWFRQ¿JXUDWLRQVRIWZDUHVXSSRUWHG
Ź New sub-modes supported, not traditional point-to-point control.
Ź 64 procedures can be applied.
Ź 0RWLRQSUR¿OHFDQEHFKDQJHGLQVWDQWDQHRXVO\
Ź 35 Homing modes / Jump mode / Write parameter mode /
Constant speed mode / Position control mode supported.

Sequential Command Overlap Command
P_Command 1 P_Command 2 P_Command 1 P_Command 2

A command is executed only when the The second command is executed after the
previous command is completed. 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.
6
Capture and Compare Functions
Capture - Position Latch Function

Ź Latches the coordinate value on the
reference axis. Data Array
Ź Response time is less than 5us. Linear
Encoder
Pulse
Ź It can be used to do mark tracing. Train
Ź Maximum 800 records

Motor Encoder
When DI7 is triggered, the latched position is

recorded in Data Array.
Data Array
Compare - Position Detection Linear
Encoder Pulse
Function Train
Ź Detects the location on the

reference axis.
383838 Position
Ź Response time is less than 5us.
Ź It can be used for CCD camera Motor Encoder
applications.
Position ==
Ź Maximum 800 records 383838
True ġ
DO4
When the record in Data Array is the same as the
detected position, DO4 will output.
7
Supports High-Speed DMCNET, EtherCAT, CANopen Protocols for
Multi-Axis Synchronous Control
DOP-B DVS
Ethernet
AH500 PCI-DMC
DMCNET CANopen
or MH1-S30D DVP-10MC
ASDA-A2-F ASDA-A2-E ASDA-A2-M
Integrated Gantry Control
Sent From Host Controller

Pulse Command
Axis 1 Axis 2
Position Monitoring
8
Product Line-up
220V Series
Servo Motors
Rated Output
Motor Series Phase Model Name
Power (W)
50 ECMA-C1040F S
100 ECMA-C 0401 S
200 ECMA-C 0602 S
400 ECMA-C 0604 S
400 ECMA-C 0804 7
Low Inertia ECMA-C 3000 r/min 1-phase / 3-phase 750 ECMA-C 0807 S
750 ECMA-C 0907 S
1000 ECMA-C 0910 S
1000 ECMA-C 1010 S
2000 ECMA-C 1020 S
3000 ECMA-C 1330 4
500 ECMA-E 1305 S
1000 ECMA-E 1310 S
1500 ECMA-E 1315 S
Medium Inertia ECMA-E 2000 r/min 1-phase / 3-phase 2000 ECMA-E 1320 S
2000 ECMA-E 1820 S
3000 ECMA-E 1830 S
3500 ECMA-E 1835 S
500 ECMA-F 1305 S
850 ECMA-F 1308 S
1300 ECMA-F 1313 S
1800 ECMA-F 1318 S
3000 ECMA-F 1830 S

Medium-High Inertia ECMA-F 1500 r/min 1-phase / 3-phase
4500 ECMA-F 1845 S
5500 ECMA-F 1855 3
7500 ECMA-F 1875 3
11000 ECMA-F1221B 3
15000 ECMA-F1221F S
400 ECMA-C 0604 H
750 ECMA-C 0807 H
High Inertia ECMA-C/G 3000 r/min 1-phase / 3-phase 300 ECMA-G 1303 S
600 ECMA-G 1306 S
900 ECMA-G 1309 S

1) The boxes ( DWWKHHQGVRIWKHVHUYRGULYHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQV)RUWKHDFWXDOPRGHOQDPHSOHDVHUHIHUWRWKHPRGHOH[SODQDWLRQRIW
NOTE 2) The boxes (

3) The boxes (
) in the model names represent encoder type. =1: Incremental encoder, 20-bit;
) in the model names represent shaft end/brake or the number of oil seal.
=2: Incremental encoder, 17-bit; =A: Absolute type
9
Servo Drives
Continuous Output Max. Instantaneous
Rated current (Arms) Maximum current (A) Model Name
Current (Arms) Current (A)
0.69 2.05
ASD-A2-0121- 0.90 2.70
0.90 2.70
1.55 4.65 ASD-A2-0221- 1.55 4.65
2.60 7.80
ASD-A2-0421- 2.60 7.80
2.60 7.80
5.10 15.30
ASD-A2-0721- 5.10 15.30
3.66 1 1.00
4.25 12.37
ASD-A2-1021- 7.30 21.90
7.30 21.90
12.05 36.15 ASD-A2-2023- 13.40 40.20
17.2 47.5 ASD-A2-3023- 19.40 58.20
2.90 8.70 ASD-A2-0421- 2.60 7.80
5.60 16.80 ASD-A2-1021- 7.30 21.90
8.30 24.90 ASD-A2-1521- 8.30 24.90
11.01 33.03
ASD-A2-2023- 13.40 40.20
11.22 33.66
16.10 48.30
ASD-A2-3023- 19.40 58.20
19.20 57.60
3.90 12.10 ASD-A2-0721- 5.10 15.30
7.10 19.40 ASD-A2-1021- 7.30 21.90
12.60 38.60
ASD-A2-2023- 13.40 40.20
13.00 36.00
19.40 58.20 ASD-A2-3023- 19.40 58.20
32.50 81.30 ASD-A2-4523- 32.50 70.7
40.00 100.00 ASD-A2-5523- 40.00 106
47.50 1 18.80 ASD-A2-7523- 47.50 141.1
51.80 129.50 ASD-A2-1B23- 54.40 141.1
67 162 ASD-A2-1F23- 70.00 212.2
2.60 7.80 ASD-A2-0421 2.60 7.80
5.10 15.30 ASD-A2-0721- 5.10 15.30
2.50 7.50 ASD-A2-0421- 2.60 7.80
4.80 14.40 ASD-A2-0721- 5.10 15.30
7.50 22.50 ASD-A2-1021- 7.30 21.90

WKHVHUYRGULYH
10
Product Line-up
400V Series
Servo Motors
Rated Output
Motor Series Phase Model Name
Power (W)
400 ECMA-J 0604 S
750 ECMA-J 0807 S
750 ECMA-J 0907 S
Low Inertia ECMA-J 3000 r/min 3-phase 1000 ECMA-J 0910 S
1000 ECMA-J 1010 S
2000 ECMA-J 1020 S
3000 ECMA-J 1330 4
750 ECMA-K 1305 S
1000 ECMA-K 1310 S
Medium Inertia ECMA-K 2000 r/min 3-phase 1500 ECMA-K 1315 S
2000 ECMA-K 1320 S
2000 ECMA-K 1820 S
750 ECMA-L 1305 S
850 ECMA-L 1308 S
1300 ECMA-L 1313 S
Medium-High Inertia ECMA-L 1500 r/min 3-phase 3000 ECMA-L 1830 S
4500 ECMA-L 1845 S
5500 ECMA-L 1855 3
7500 ECMA-L 1875 3
High Inertia ECMA-G 3000 r/min 3-phase 900 ECMA-M 1309 S
1) The boxes ( DWWKHHQGVRIWKHVHUYRGULYHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQV)RUWKHDFWXDOPRGHOQDPHSOHDVHUHIHUWRWKHPRGHOH[SODQDWLRQRIW
NOTE 2) The boxes ( ) in the model names represent encoder type. =1: Incremental encoder, 20-bit ; =2: Incremental encoder, 17-bit; =A: Absolute type
3) The boxes ( ) in the model names represent shaft end/brake or the number of oil seal.
11
Servo Drives
Continuous Output Max. Instantaneous
Rated current (Arms) Maximum current (A) Model Name
Current (Arms) Current (A)
1.62 4.85 ASD-A2-0743- 3.07 9.21
3.07 9.5 ASD-A2-0743- 3.07 9.21
2.16 6.37 ASD-A2-0743- 3.07 9.21
2.4 7.17 ASD-A2-1043- 3.52 9.86
4.15 12.46 ASD-A2-1543- 5.02 10.04
7.09 21.28 ASD-A2-2043- 6.66 18.65
9.8 29.99 ASD-A2-3043- 11.9 33.32
1.7 5.2 ASD-A2-0743- 3.07 9.21
3.52 10.56 ASD-A2-1043- 3.52 9.86
5.02 15.06 ASD-A2-1543- 5.02 10.04
6.66 19.98 ASD-A2-2043- 6.66 18.65
6.6 19.88 ASD-A2-2043- 6.66 18.65
2.1 6.1 ASD-A2-0743- 3.07 9.21
3.4 8.85 ASD-A2-1043- 3.52 9.86
5.02 15 ASD-A2-1543- 5.02 10.04
11.53 34.6 ASD-A2-3043- 11.9 33.32
20.8 52 ASD-A2-4543- 20 44
22.37 56 ASD-A2-5543- 22.04 48.49
27.3 68.3 ASD-A2-7543- 28.39 62.46
4.4 13.1 ASD-A2-1543- 5.02 10.04
WKHVHUYRGULYH
12
Model Explanation
ASDA-A2 Series Servo Drives
ASD - A2 - 04 21 - M
Model Type
Product Name:
(see the table below)
AC Servo Drive
Series: Input Voltage and Phase
A2 21: 220V 1-phase / 3-phase
Rated Output Power 23: 220V 3-phase
43: 400V 3-phase
01: 100 W 10: 1 kW 45: 4.5 kW
02: 200 W 15: 1.5 kW 55: 5.5 kW
04: 400 W 20: 2 kW 75: 7.5 kW
07: 750 W 30: 3 kW 1B: 11 kW
1F: 15 kW
Extension
Full-Closed Analog Pulse
RS-485 Port for EtherCAT PR
Type (CN3)
Control
Digital Input *4
CANopen DMCNET Voltage Input
Parameters
E-CAM *3
(CN5) *1 Control Port
(CN7)
Standard L ĉ ĉ X X X X ĉ ĉ ĉ X
Model U ĉ ĉ ĉ X X X ĉ ĉ ĉ ĉ
E X ĉ ĉ ĉ X X X X ĉ ĉ
Network
F ĉ ĉ X X X ĉ X X ĉ *2 X
Model
M ĉ ĉ X X ĉ X ĉ ĉ ĉ ĉ
1. In PR mode, only A2-F supports full-closed control function.
NOTE
2. When applying communication mode (A2-E, -F, -M models), PR parameters can be read and written through DMCNET only.
3. E-CAM function can only be used in PR mode.
4. For information about ASDA A2-E EtherCAT interface servo drive, please refer to the ASDA A2-E brochure.
ECMA Series Servo Motors

ECM A - C1 06 02 E S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical W/O With W/O With
Commutation Motor Shaft Type and Brake Brake Brake Brake
Oil Seal W/O Oil W/O Oil With With
Seal Seal Oil Seal Oil Seal
Driving Type
Round Shaft
A: AC Servo Motor - - C D
(with screw hole)
Keyway E F - -
Keyway (with
P Q R S
screw hole)
Series
Rated Output Power
Rated Voltage / Rated Speed
C: 220V / 3000 r/min J: 400V / 3000 r/min 0F: 50 W 08: 850 W 35: 3.5 kW
E: 220V / 2000 r/min K: 400V / 2000 r/min 01: 100 W 09: 900 W 45: 4.5 kW
F: 220V / 1500 r/min L: 400V / 1500 r/min 02: 200 W 10: 1 kW 50: 5.0 kW
G: 220V / 1000 r/min M: 400V / 1000 r/min Motor Frame Size 03: 300 W 13: 1.3 kW 55: 5.5 kW
04: 400 W 15: 1.5 kW 75: 7.5 kW
Encoder Type 04: 40 mm 10: 100 mm 05: 500 W 18: 1.8 kW 1B: 11 kW
1: Incremental encoder, 20-bit A: Absolute encoder, 06: 60 mm 13: 130 mm 06: 600 W 20: 2 kW 1F: 15 kW
2: Incremental encoder, 17-bit Single-turn: 17-bit 08: 80 mm 18: 180 mm 07: 750 W 30: 3 kW
3: 2500 ppr Multi-turn: 16-bit 09: 86 mm 22: 220 mm
13
Servo Motor Features
ECMA series servo motors are permanent AC servo motors, capable of combining with 200 to 230V
ASDA-A2 220V series AC servo drives from 50 W to 15 kW and 380V to 480V ASDA-A2 400V series
AC servo drives from 750 W to 7.5 kW.
For the 220V series, there are 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm, 180 mm, and 200 mm
eight kinds of frame sizes available. The motor speed is from 1000 r/min to 5000 r/min and the torque
output is from 0.477 N-m to 224 N-m.
For the 400V series, there are 60 mm, 80 mm, 86 mm, 100 mm, 130 mm, 180 mm, six kinds of frame
sizes available. The motor speed is from 1500 r/min to 5000 r/min and the torque output is from 3.82
1PWR1P,QWHUPVRIRSWLRQDOFRQ¿JXUDWLRQV(&0$VHULHVSURYLGHVEUDNHDQGRLOVHDOWRIXOO\
support our customers' needs. It also offers two different shaft selections, round shaft and keyway, for
various applications.
14
6HUYR0RWRU6SHFL¿FDWLRQV
Low Inertia Series- 220V Series
C104 C 04 C 06 C 08 C 09 C 10 C 13
ECMA Series
0F 01 02 04 ː S 04 07 07 10 10 20 30
Rated output power (kW) 0.05 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0 2.0 3.0
Rated torque (N-m)*1 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18 6.37 9.55
Maximum torque (N-m) 0.477 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54 19.11 28.65
Rated speed (r/min) 3000 3000 3000 3000
Maximum speed (r/min) 5000 3000 5000 4500
Rated current (A) 0.69 0.90 1.55 2.6 2.6 5.1 3.66 4.25 7.3 12.05 17.2
Maximum current (A) 2.05 2.70 4.65 7.8 7.8 15.3 11 12.37 21.9 36.15 47.5
Power rating (kW/s) 12.27 27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1 90.6 71.8
Rotor moment of inertia
0.0206 0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 12.7
(x10-4kg-m2)
Mechanical time constant (ms) 1.2 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74 0.61 1.11
Torque constant-KT (N-m/A) 0.23 0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44 0.53 0.557
Voltage constant-KE (mV/(r/min) 9.8 13.6 16 17.4 18.5 17.2 24.2 27.5 16.8 19.2 20.98
Armature resistance (Ohm) 12.7 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 0.0976
Armature inductance (mH) 26 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 1.21
Electrical time constant (ms) 2.05 2.58 4.3 4.3 7.96 8.36 5.66 6.35 9.3 11.4 12.4
Insulation class Class A (UL), Class B (CE)
Insulation resistance 100Mʈ , DC 500V above
Insulation strength 1.8k Vac,1 sec
Weight (kg)(without brake) 0.42 0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3 6.2 7.8
Weight (kg)(with brake) -- 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7 7.2 9.2
Max. radial shaft load (N) 78.4 78.4 196 196 245 245 245 245 490 490 490
Max. thrust shaft load (N) 39.2 39.2 68 68 98 98 98 98 98 98 98
Power rating (kW/s)(with brake) -- 25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4 82 65.1
-- 0.04 0.19 0.30 0.73 1.18 1.95 2.67 3.33 4.95 14.0
(x10-4kg-m2)(with brake)
Mechanical time constant
-- 0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93 0.66 1.22
(ms)(with brake)
*2
Brake holding torque [Nt-m (min)] -- 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8 8 10.0
Brake power consumption
-- 7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7 18.7 19.0
DWÛ&>:@
Brake release time [ms (Max)] -- 5 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] -- 25 70 70 70 70 70 70 70 70 70
Vibration grade (ʛm) 15
2SHUDWLQJWHPSHUDWXUHÛ&) 0ºC to 40ºC
6WRUDJHWHPSHUDWXUHÛ&) -10ºC to 80ºC
Operating humidity 20 to 90%RH (non-condensing)
Storage humidity 20 to 90%RH (non-condensing)
Vibration capacity 2.5G
,3ZKHQZDWHUSURRIFRQQHFWRUVDUHXVHGRUZKHQDQRLOVHDOLVXVHGWREH¿WWHGWR
IP Rating
the rotating shaft (an oil seal model is used))
Approvals
*1. Rate torque values are continuous permissible values at 0 ~ 40Û& ambient temperature when attaching with the sizes of heatsinks listed below:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F40, F60, F80, F100, F130, F180, F220
*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.
15
Medium Series- 220V Series
E 13 E 18
ECMA Series
05 10 15 20 20 30 35
Rated output power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.5
Rated torque (N-m)*1 2.39 4.77 7.16 9.55 9.55 14.32 16.71
Maximum torque (N-m) 7.16 14.3 21.48 28.65 28.65 42.97 50.13
Rated speed (r/min) 2000
Maximum speed (r/min) 3000
Rated current (A) 2.9 5.6 8.3 11.01 11.22 16.1 19.2
Maximum current (A) 8.7 16.8 24.9 33.03 33.66 48.3 57.6
Power rating (kW/s) 7.0 27.1 45.9 62.5 26.3 37.3 50.8
8.17 8.41 11.18 14.59 34.68 54.95 54.95
(x10-4kg-m2)(without brake)
Mechanical time constant (ms) 1.91 1.51 1.10 0.96 1.62 1.06 1.08
Torque constant-KT (N-m/A) 0.83 0.85 0.87 0.87 0.85 0.89 0.87
Voltage constant-KE (mV/(r/min) 30.9 31.9 31.8 31.8 31.4 32.0 32
Armature resistance (Ohm) 0.57 0.47 0.26 0.174 0.119 0.052 0.052
Armature inductance (mH) 7.39 5.99 4.01 2.76 2.84 1.38 1.38
Electrical time constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 26.39
Weight (kg)(without brake) 6.8 7.0 7.5 7.8 13.5 18.5 18.5
Weight (kg)(with brake) 8.2 8.4 8.9 9.2 17.5 22.5 22.5
Max. radial shaft load (N) 490 490 490 490 1176 1470 1470
Max. thrust shaft load (N) 98 98 98 98 490 490 490
Power rating (kW/s)(with brake) 6.4 24.9 43.1 57.4 24.1 35.9 48.9
8.94 9.14 11.90 15.88 37.86 57.06 57.06
2.07 1.64 1.19 1.05 1.77 1.10 1.12
(ms)(with brake)
*2
Brake holding torque [Nt-m (min)] 10.0 10.0 10.0 10.0 25.0 25.0 25.0
19.0 19.0 19.0 19.0 20.4 20.4 20.4
DWÛ&>:@
Brake release time [ms (Max)] 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70
IP Rating
Approvals
*1. 5DWHWRUTXHYDOXHVDUHFRQWLQXRXVSHUPLVVLEOHYDOXHVDWaÛ&DPELHQWWHPSHUDWXUHZKHQDWWDFKLQJZLWKWKHVL]HVRIKHDWVLQNVOLVWHGEHORZ
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
16
Medium-High Inertia Series- 220V Series
F 13 F 18 F 22
ECMA Series
05 08 13 18 30 45 55 75 1B 1F
Rated output power (kW) 0.5 0.85 1.3 1.8 3.0 4.5 5.5 7.5 11 15
Rated torque (N-m)*1 3.18 5.41 8.34 11.48 19.10 28.65 35.01 47.74 70 95.4
Maximum torque (N-m) 8.92 13.8 23.3 28.7 57.29 71.62 87.53 119.36 175 224.0
Rated speed (r/min) 1500
Maximum speed (r/min) 3000 2000
Rated current (A) 3.9 7.1 12.6 13 19.4 32.5 40.0 47.5 51.8 67
Maximum current (A) 12.1 19.4 38.6 36 58.2 81.3 100.0 118.8 129.5 162
Power rating (kW/s) 9.8 21.52 34.78 52.93 66.4 105.5 122.9 159.7 144.9 201.8
10.3 13.6 20 24.9 54.95 77.75 99.78 142.7 338 451
Mechanical time constant (ms) 2.8 2.43 1.62 1.7 1.28 0.92 0.96 0.63 1.38 1.23
Torque constant-KT (N-m/A) 0.82 0.76 0.66 0.88 0.98 0.88 0.88 1.01 1.37 1.42
Voltage constant-KE (mV/(r/min) 29.5 29.2 24.2 32.2 35.0 32.0 31.0 35.5 49 50
Armature resistance (Ohm) 0.624 0.38 0.124 0.185 0.077 0.032 0.025 0.015 0.026 0.0184
Armature inductance (mH) 7 4.77 1.7 2.6 1.27 0.89 0.60 0.40 0.65 0.48
Electrical time constant (ms) 11.22 12.55 13.71 14.05 16.5 27.8 24.0 26.7 24.79 26.09
Weight (kg)(without brake) 6.3 8.6 9.4 10.5 18.5 23.5 30.5 40.5 56.4 75
Weight (kg)(with brake) 7.7 10.0 10.8 11.9 22.5 29 36 46 68.4 87
Max. radial shaft load (N) 490 490 490 490 1470 1470 1764 1764 3300 3300
Max. thrust shaft load (N) 98 98 98 98 490 490 588 588 1100 1100
Power rating (kW/s)(with brake) 8.8 19.78 32.66 50.3 63.9 101.8 119.4 156.6 141.4 197.1
11.5 14.8 21.3 26.2 57.06 80.65 102.70 145.55 346.5 461.8
3.12 2.65 1.73 1.79 1.33 0.96 0.99 0.64 1.41 1.25
(ms)(with brake)
*2
Brake holding torque[Nt-m(min)] 10 10.0 10.0 10.0 25.0 55.0 55.0 55.0 115 115
19 19.0 19.0 19.0 20.4 19.9 19.9 19.9 28.8 28.8
DWÛ&>:@
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70 70
IP Rating
Approvals
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
17
High Inertia Series- 220V Series
C 06 C 08 G 13
ECMA Series
04 H 07 H 03 06 09
Rated output power (kW) 0.4 0.75 0.3 0.6 0.9
Rated torque (N-m)*1 1.27 2.39 2.86 5.73 8.59
Maximum torque (N-m) 3.82 7.16 8.59 17.19 21.48
Rated speed (r/min) 3000 1000
Rated current (A) 2.6 5.1 2.5 4.8 7.5
Maximum current (A) 7.8 15.3 7.5 14.4 22.5
Power rating (kW/s) 21.7 19.63 10.0 39.0 66.0
0.743 2.91 8.17 8.41 11.18
Mechanical time constant (ms) 1.42 1.6 1.84 1.40 1.06
Torque constant-KT (N-m/A) 0.49 0.47 1.15 1.19 1.15
Voltage constant-KE (mV/(r/min) 17.4 17.2 42.5 43.8 41.6
Armature resistance (Ohm) 1.55 0.42 1.06 0.82 0.43
Armature inductance (mH) 6.71 3.53 14.29 11.12 6.97
Electrical time constant (ms) 4.3 8.36 13.5 13.50 16.06

Weight (kg)(without brake) 1.8 3.4 6.8 7.0 7.5
Weight (kg)(with brake) 2.2 3.9 8.2 8.4 8.9
Max. radial shaft load (N) 196 245 490 490 490
Max. thrust shaft load (N) 68 98 98 98 98
Power rating (kW/s)(with brake) 21.48 19.3 9.2 35.9 62.1
0.751 2.96 8.94 9.14 11.9
1.43 1.62 2.0 1.51 1.13
(ms)(with brake)
*2
Brake holding torque [Nt-m (min)] 1.3 2.5 10.0 10.0 10.0
6.5 8.2 19.0 19.0 19.0
DWÛ&>:@
Brake release time [ms (Max)] 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70
IP Rating
Approvals
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
18
Low / Medium Series- 400V Series
J 06 J 08 J 09 J 10 J 13 K 13 K 18
ECMA Series
04 07 07 10 10 20 30 05 10 15 20 20
Rated output power (kW) 0.4 0.75 0.75 1 1.0 2.0 3.0 0.5 1.0 1.5 2.0 2.0
Rated torque (N-m)*1 1.27 2.39 2.39 3.18 3.18 6.37 9.55 2.39 4.77 7.16 9.55 9.55
Maximum torque (N-m) 3.82 7.16 7.14 8.78 9.54 19.1 28.65 7.16 14.32 21.48 28.65 28.65
Rated speed (r/min) 3000 3000 3000 3000 2000
Maximum speed (r/min) 5000 3000 5000 4500 3000
Rated current (A) 1.62 3.07 2.16 2.4 4.15 7.09 9.8 1.7 3.52 5.02 6.66 6.6
Maximum current (A) 4.85 9.5 6.37 7.17 12.46 21.28 29.99 5.2 10.56 15.06 19.98 19.88
Power rating (kW/s) 58.2 50.4 29.6 38.6 38.2 91.2 71.8 6.99 27.1 45.9 62.5 26.3
0.277 1.13 1.93 2.62 2.65 4.45 12.7 8.17 8.41 11.18 14.59 34.68
Mechanical time constant (ms) 0.47 0.66 1.56 1.06 0.77 0.58 0.99 2.08 1.80 1.24 1.04 1.74
Torque constant-KT (N-m/A) 0.79 0.78 1.12 1.29 0.77 0.9 0.97 1.41 1.35 1.43 1.43 1.45
Voltage constant-KE (mV/(r/min) 30.6 28.24 42 50.9 29.0 34.4 37.3 51.5 53.2 55 55 54.0
Armature resistance (Ohm) 3.95 1.22 3.62 2.58 0.617 0.388 0.269 1.76 1.47 0.83 0.57 0.376
Armature inductance (mH) 21.3 10.68 21.2 15.28 6.03 4.62 3.55 22.4 17.79 11.67 8.29 7.87
Electrical time constant (ms) 5.39 8.75 5.85 5.93 9.77 11.9 13.2 12.73 12.04 14.04 14.39 20.9
Insulation resistance 100Mʈ, DC 500V above
Insulation strength 2.3k Vac, 1 sec
Weight (kg)(without brake) 1.6 3.0 2.9 3.8 4.3 6.2 7.8 6.8 7.0 7.5 7.8 13.5
Weight (kg)(with brake) 2 3.8 - - 4.7 7.2 9.2 8.2 8.4 8.9 9.2 17.5
Max. radial shaft load (N) 19.6 245 245 245 490 490 490 490 490 490 490 1176
Max. thrust shaft load (N) 68 98 98 98 98 98 98 98 98 98 98 490
Power rating (kW/s)(with brake) 53.8 48.4 29.3 37.9 30.4 82 65.1 6.39 24.9 43.1 59.7 24.1
0.3 1.18 1.95 2.67 3.33 4.95 14.0 8.94 9.14 11.90 15.88 37.86
0.52 0.65 1.57 1.08 0.96 0.65 1.09 2.28 1.96 1.32 1.13 1.9
(ms)(with brake)
*2
Brake holding torque [Nt-m (min)] 1.3 2.5 2.5 2.5 8.0 8.0 10.0 10.0 10.0 10.0 10.0 25.0
6.5 8.5 8.2 8.2 18.5 18.5 19.0 19.0 19.0 19.0 19.0 20.4
DWÛ&>:@
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70 70 70 70
IP Rating
Approvals
ECMA-_ _ 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material type : Aluminum – F80, F130, F180, F220
19
Medium-High / High Inertia Series- 400V Series
L 13 L 18 M 13
ECMA Series
05 08 13 30 45 55 75 09
Rated output power (kW) 0.5 0.85 1.3 3.0 4.5 5.5 7.5 0.9
Rated torque (N-m)*1 3.18 5.39 8.34 19.10 28.65 35.0 47.74 8.59
Maximum torque (N-m) 8.92 13.8 23.3 57.29 71.62 87.53 119.36 21.48
Rated speed (r/min) 1500 1000
Rated current (A) 2.1 3.4 5.02 11.53 20.8 22.37 27.3 4.4
Maximum current (A) 6.1 8.85 15 34.6 52 56 68.3 13.1
Power rating (kW/s) 7.72 17.0 29.47 66.4 105.5 122.9 159.7 66
13.1 17.1 23.6 54.95 77.75 99.78 142.7 11.18
Mechanical time constant (ms) 2.3 1.76 1.44 1.11 0.94 0.88 0.77 1.21
Torque constant-KT (N-m/A) 1.5 1.59 1.66 1.66 1.38 1.56 1.75 1.95
Voltage constant-KE (mV/(r/min) 55.5 58.9 61.1 64.4 53 58.9 66.4 71.7
Armature resistance (Ohm) 1.41 0.92 0.59 0.21 0.09 0.07 0.06 1.45
Armature inductance (mH) 20 14.1 9.54 4.94 2.36 2.2 1.7 23.3
Electrical time constant (ms) 14.1 15.33 16.17 23.97 28.07 27.6 28.29 16.07
Insulation resistance 100Mʈ, DC 500V above
Weight (kg)(without brake) 6.8 8.6 10.7 18.5 23.5 30.5 40.5 7.5
Weight (kg)(with brake) - 10 -- 22.5 29 36 46 8.9
Max. radial shaft load (N) 490 490 490 1470 1470 1764 1764 490
Max. thrust shaft load (N) 98 98 98 490 490 588 588 98
Power rating (kW/s)(with brake) 7.02 14.82 27.82 63.9 101.8 119.4 156.6 62
14.4 19.6 25 57.06 80.65 102.70 145.5 11.9
2.54 2.02 1.52 1.16 0.95 0.91 0.79 1.29
(ms)(with brake)
*2
Brake holding torque [Nt-m (min)] 10.0 10.0 10.0 25.0 55.0 55.0 55.0 10.0
19.0 19.0 19.0 20.4 19.9 19.9 19.9 19.0
DWÛ&>:@
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70
IP Rating
Approvals
ECMA-_ _ 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
ECMA-_ _ 22: 650 mm x 650 mm x 35 mm
Material type : Aluminum – F80, F130, F180, F220
20
Servo Motor Dimensions
220V Series
Frame Size 86mm and below
Units: mm
Model

C1040F S C 0401 S C 0602 S C 0604 SC 0604 H C 0804 7 C 0807 SC 0807 HC 0907 S C 0910 S
LC 40 40 60 60 60 80 80 80 86 86
LZ 4.5 4.5 5.5 5.5 5.5 6.6 6.6 6.6 6.6 6.6
LA 46 46 70 70 70 90 90 90 100 100
+0 +0 +0 +0 +0 +0 +0 +0 +0 +0
S 8 ( - 0.009 ) - (0.009
8 ) 14 ( - 0.011 ) 14 ( - 0.011 ) 14 ( - 0.011 ) 14 ( - 0.011 ) 19 ( - 0.013 ) 19 ( - 0.013 ) 16 ( - 0.011 ) 16 ( - 0.011 )
+0 +0 +0 +0 +0 +0 +0 +0 +0 +0
LB 30 ( - 0.021 ) 30 ( - 0.021 ) 0 5
- (0.025 ) 50 ( - 0.025 ) 50 ( - 0.025 ) 70 ( - 0.030 ) 70 ( - 0.030 ) 70 ( - 0.030 ) 80 ( - 0.030 ) 80 ( - 0.030 )
LL濑without brake濒 79.1 100.6 105.5 130.7 145.8 112.3 138.3 154.8 130.2 153.2
LL濑with brake濒 -- 136.8 141.6 166.8 176.37 152.8 178 187.8 161.3 184.3
LS 20 20 27 27 27 27 32 32 30 30
LR 25 25 30 30 30 30 35 35 35 35
LE 2.5 2.5 3 3 3 3 3 3 3 3
LG 5 5 7.5 7.5 7.5 8 8 8 8 8
LW 16 16 20 20 20 20 25 25 20 20
RH 6.2 6.2 11 11 11 11 15.5 15.5 13 13
WK 3 3 5 5 5 5 6 6 5 5
W 3 3 5 5 5 5 6 6 5 5
T 3 3 5 5 5 5 6 6 5 5
M3 M3 M4 M4 M4 M4 M6 M6 M5 M5
TP Depth 8 Depth 8 Depth 15 Depth 15 Depth 15 Depth 15 Depth 20 Depth 20 Depth 15 Depth 15
1) Dimensions are in millimeters.
2) Dimensions of the servo motors may be revised without prior notice.
3) The boxes ( LQWKHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQVNH\ZD\EUDNHDQGRLOVHDO
4) The boxes ( ) in the model names are for encoder resolution types. ( =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit; =A: Absolute type)
Speed-Torque Curves (T-N Curves)

Torque (N-m) Torque (N-m) Torque (N-m) Torque (N-m) Torque (N-m)
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone
Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min)
ECMA-C1040F ː S ECMA-C 0401 ː S ECMA-C 0602 ː S ECMA-C 0604 ː S ECMA-C 0807 ː S

ECMA-C 0604 ː H ECMA-C 0807 ː H
ECMA-C 0804 ː 7
Torque (N-m) Torque (N-m)
8.78
7.14 (276%)
(298%)
5.85
(184%)
6.00
(251%)
Intermittent Duty Zone Intermittent Duty Zone
2.38 3.18
(100%) (100%)
Continuous Duty Zone Continuous Duty Zone

Speed (r/min) Speed (r/min)
2,000 3,000
ECMA-C 0907 ː S ECMA-C 0910 ː S
21
220V Series
Frame Size 100mm and 130mm
W -0.036
LG LR
0
LE
LS
LW KEY DETAILS
LC
-0.036
TP
LBh7
Sh6
0
RH
LL 4-ØZ SHAFT END DETAILS

PCD-A
Units: mm
Model C 1010
S C 1020
S C 1330
4 E 1305
S E 1310
S E 1315
S E 1320
S
LC 100 100 130 130 130 130 130
LZ 9 9 9 9 9 9 9
LA 115 115 145 145 145 145 145
+0 +0 +0 +0 +0 +0 +0
S 22 ( - 0.013 ) 22 ( - 0.013 ) 24 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 )
+0 +0 +0 +0 +0 +0 +0
LB 95 ( - 0.035 ) 95 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 )
LL濑without brake濒 153.3 199 187.5 147.5 147.5 167.5 187.5
LL濑with brake濒 192.5 226 216 183.5 183.5 202 216
LS 37 37 47 47 47 47 47
LR 45 45 55 55 55 55 55
LE 5 5 6 6 6 6 6
LG 12 12 11.5 11.5 11.5 11.5 11.5
LW 32 32 36 36 36 36 36
RH 18 18 20 18 18 18 18
WK 8 8 8 8 8 8 8
W 8 8 8 8 8 8 8
T 7 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20


Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone
ECMA-C 1010 ː S ECMA-C 1020 ː S ECMA-C 1330 ː 4 ECMA-E 1305 ː S ECMA-E 1310 ː S

ECMA-E 1315 ː S ECMA-E 1320 ː S
22
220V Series
W -0.036
LG LR
0
LE
LS
LW KEY DETAILS
LC
-0.036
TP
LBh7
Sh6
0
RH
LL 4-ØZ SHAFT END DETAILS

PCD-A
Units: mm
Model F 1305
S F 1308
S F 1313
S F 1318
S G 1303
S G 1306
S G 1309
S
LC 130 130 130 130 130 130 130
LZ 9 9 9 9 9 9 9
LA 145 145 145 145 145 145 145
+0 +0 +0 +0 +0 +0 +0
S 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 ) 22 ( - 0.013 )
+0 +0 +0 +0 +0 +0 +0
LB 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 ) 110 ( - 0.035 )
LL濑without brake濒 139.5 147.5 187.5 202 147.5 147.5 163.5
LL濑with brake濒 168 183.5 216 230.7 183.5 183.5 198
LS 47 47 47 47 47 47 47
LR 55 55 55 55 55 55 55
LE 6 6 6 6 6 6 6
LG 11.5 11.5 11.5 11.5 11.5 11.5 11.5
LW 36 36 36 36 36 36 36
RH 18 18 18 18 18 18 18
WK 8 8 8 8 8 8 8
W 8 8 8 8 8 8 8
T 7 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20

8.92
(280%)
5.1
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
Intermittent Duty Zone
(160%)
3.18
(100%)
1.59 Continuous Duty Zone Continuous Duty Zone
Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone
(50%)
1,500 2,300 3,000
ECMA-F 1305 ː S ECMA-F 1308 ː S ECMA-F 1313 ː S ECMA-F 1318 ː S ECMA-G 1303 ː S

ECMA-G 1306 ː S ECMA-G 1309 ː S
23
220V Series
Frame Size 180mm
LG LR T
LE
W
LS
LW
KEY DETAILS
LC
TP
Lbh7
Sh6
RH
LL 4-ØLZ SHAFT END DETAILS

PCD -LA
Units: mm
Model E 1820
S E 1830
S E 1835
S F 1845
S F 1855
3 F 1875
3
LC 180 180 180 180 180 180
LZ 13.5 13.5 13.5 13.5 13.5 13.5
LA 200 200 200 200 200 200
+0 +0 +0 +0 +0 +0
S 35 ( - 0.016 ) 35 ( - 0.016 ) 35 ( - 0.016 ) 35 ( - 0.016 ) 42 ( - 0.016 ) 42 ( - 0.016 )
+0 +0 +0 +0 +0 +0
LB 114.3 ( - 0.035 ) 114.3 ( - 0.035 ) 114.3 ( - 0.035 ) 114.3 ( - 0.035 ) 114.3 ( - 0.035 ) 114.3 ( - 0.035 )
LL濑without brake濒 169 202.1 202.1 235.3 279.7 342.0
LL濑with brake濒 203.1 235.3 235.3 279.3 311.7 376.1
LS 73 73 73 73 108.5 108.5
LR 79 79 79 79 113 113
LE 4 4 4 4 4 4
LG 20 20 20 20 20 20
LW 63 63 63 63 90 90
RH 30 30 30 30 37 37
WK 10 10 10 10 12 12
W 10 10 10 10 12 12
T 8 8 8 8 8 8
M12 M12 M12 M12 M16 M12
TP
Depth 25 Depth 25 Depth 25 Depth 25 Depth 32 Depth 32

orque (N-m) orque (N-m) orque (N-m) orque (N-m) orque (N-m)
28.65 42.97 57.29 50.13 71.62

(300%) (300%) (300%) (300%) (300%)
9.55 14.32 19.10 16.71 28.65
(100%) (100%) (100%) (100%) (100%)
6.40
(67%) 9.59 9.55 11.20 14.33
Continuous Duty Zone (67%) Continuous Duty Zone (50%) Continuous Duty Zone (67%) Continuous Duty Zone (50%) Continuous Duty Zone
2,000 3,000 2,000 3,000 1,500 3,000 2,000 3,000 1,500 3,000
ECMA-E 1820 ː S ECMA-E 1830 ː S ECMA-F 1830 ː S ECMA-E 1835 ː S ECMA-F 1845 ː S
orque (N-m) orque (N-m)
87.53 119.36
(300%) (250%)

35.01 47.74
(100%) (100%)
17.51 23.87
(50%) Continuous Duty Zone (50%) Continuous Duty Zone
1,500 3,000 1,500 3,000
ECMA-F 1875 ː 3
ECMA-F 1855 ː 3
24
220V Series
Frame Size 220mm and above
Units: mm
Model F1221B
3 F1221F
S
LC 220 220
LZ 13.5 13.5
LA 235 235
+0 +0.03
S 42 ( - 0.016 ) 55 ( - 0.011 )
+0 +0
LB 200 ( - 0.046 ) 200 ( - 0.046 )
LL濑without brake濒 371.4 453.4
LL濑with brake濒 434.4 513.4
LS 108 108
LR 116 116
LE 4 4
LG 20 20
LW 90 90
RH 37 49
WK 12 16
W 12 16
T 8 10
M16 M20
TP
Depth 32 Depth 40

175 224
(250%) (240%)
70 95.4
(100%) (100%)
52.5 71.6
(75%)
Continuous Duty Zone (75%) Continuous Duty Zone
1,500 2,000 1,500 2,000
ECMA-F1221B ː 3 ECMA-F1221F ː S
25
400V Series
Frame Size 80mm and below
Units: mm
Model J 0604
S J 0807
S J 0907
S J 0910
S
LC 60 80 86 86
LZ 5.5 6.6 6.6 6.6
LA 70 90 100 100
+0 +0 +0 +0
S 14( - 0.011 ) 19( - 0.013 ) 16( - 0.011 ) 16( - 0.011 )
+0 +0 +0 +0
LB 50( - 0.025 ) 70( - 0.030 ) 80( - 0.030 ) 80( - 0.030 )
LL濑without brake濒 130.7 138.3 130.2 153.2
LL濑with brake濒 166.8 178 161.3 184.3
LS 濑without oil seal濒 27 32 30 30
LS 濑with oil seal濒 -- 29.5 30 30
LR 30 35 35 35
LE 3 3 3 3
LG 7.5 8 8 8
LW 20 25 20 20
RH 11 15.5 13 13
WK 5 6 5 5
W 5 6 5 5
T 5 6 5 5
M4 M6 M5 M5
TP
Depth 15 Depth 20 Depth 15 Depth 15
4) The boxes ( ) in the model names are for encoder resolution types ( =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit); =A: Absolute type

Torque (N-m) Torque (N-m) Torque (N-m) Torque (N-m)
7.16 7.14 8.78

3.82 (300%) (298%) (276%)
(300%) 5.85
(184%)
6.00
(251%)
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
1.27 2.39 2.38 3.18
(100%) (100%) (100%) (100%)
0.762 1.43
(60%) (60%) Continuous Duty Zone Continuous Duty Zone
Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min)
3,000 5,000 3,000 5,000 2,000 3,000 2,000 3,000
ECMA-J 0604 ː S ECMA-J 0807 ː S ECMA-J 0907 ː S ECMA-J 0910 ː S
26
400V Series
W -0.036
LG LR
0
LE
LS
LW KEY DETAILS
-0.036
LC
TP
LBh7
Sh6
0
RH

PCD-LA
Units: mm
Model J 1010
SJ 1020

SJ 1330

4K 1305

SK 1310

SK 1315

SK 1320

SL 1305

SL 1308

SL 1313

S
LC 100 100 130 130 130 130 130 130 130 130
LZ 9 9 9 9 9 9 9 9 9 9
LA 115 115 145 145 145 145 145 145 145 145
S +0
22 ( - 0.013 )
+0
22 ( - 0.013 )
+0
24 ( - 0.013 )
+0
22 ( - 0.013 ) 22 ( - 0.013 )
+0 +0
22 ( - 0.013 )
+0
22 ( - 0.013 )
+0
22 ( - 0.013 )
+0
22 ( - 0.013 )
+0
22 ( - 0.013 )
LB 95 (
+0
- 0.035 ) 95 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 (
+0
- 0.035 ) 110 ( - 0.035 )
+0
LL濑without brake濒 153.3 199 187.5 139.5 147.5 167.5 187.5 147.5 163.5 194.5
LL濑with brake濒 192.5 226 216.0 168 183.5 202 216 168.0 181 223
LS 37 37 47 47 47 47 47 47 47 47
LR 45 45 55 55 55 55 55 55 55 55
LE 5 5 6 6 6 6 6 6 6 6
LG 12 12 11.5 11.5 11.5 11.5 11.5 11.5 11.5 11.5
LW 32 32 36 36 36 36 36 36 36 36
RH 18 18 20 18 18 18 18 18 18 18
WK 8 8 8 8 8 8 8 8 8 8
W 8 8 8 8 8 8 8 8 8 8
T 7 7 7 7 7 7 7 7 7 7
MP6 MP6 MP6 MP6 MP6 MP6 MP6 M8 MP6 MP6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 25 Depth 20 Depth 20

9.54 19.11 7.16 14.32

28.65 (300%)
(300%) (300%) (300%) (300%)
3.18 6.37 9.55 2.39 4.77
(100%) (100%) (100%) (100%) (100%)
1.91 3.82 3.2
(60%) (60%) 6.4 (67%)
Continuous Duty Zone Continuous Duty Zone (67%) Continuous Duty Zone 1.6 Continuous Duty Zone Continuous Duty Zone
(67%)
3,000 5,000 3,000 5,000 3000 4500 2,000 3,000 2,000 3,000
ECMA-J 1010 ː S ECMA-J 1020 ː S ECMA-J 1330 ː 4 ECMA-K 1305 ː S ECMA-K 1310 ː S
8.92 13.80 23.3

21.5 28.65 (284%) (255%) (280%)
(300%) (300%)
5.39
⊇怆柿
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone 3.5 (100%) Intermittent Duty Zone Intermittent Duty Zone
9.55 8.34
7.16 3.18 (110%)
(100%) (100%)
(100%) (100%) 4.5 6
4.8 6.4 (83%) (72%)
(67%) Continuous Duty Zone (67%) Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone
1.59 2.70 4.17
Speed (r/min) Speed (r/min) (50%) Speed (r/min) (50%) Speed (r/min) (50%) Speed (r/min)
2,000 3,000 2,000 3,000 1,500 2,300 3,000 1,500 2,200 3,000 1,500 2,200 3,000
ECMA-K 1315 ː S ECMA-K 1320 ː S ECMA-L 1305 ː S ECMA-L 1308 ː S ECMA-L 1313 ː S
27
400V Series
Frame Size 180mm and above
LG LR T
LE
W
LS
LW
KEY DETAILS
LC
TP
Lbh7
Sh6
RH

PCD -LA
Units: mm
Model K 1820
S L 1830
S L 1845
S L 1855
3 L 1875
S M 1309 ü S
LC 180 180 180 180 180 130
LZ 13.5 13.5 13.5 13.5 13.5 9
LA 200 200 200 200 200 145
S +0
35 ( - 0.016 )
+0
35 ( - 0.016 )
+0
35 ( - 0.016 )
+0
42 ( - 0.016 )
+0
42 ( - 0.016 )
+0
22 ( - 0.013 )
LB 114.3(
+0
- 0.035 ) 114.3(
+0
- 0.035 ) 114.3(
+0
- 0.035 ) 114.3(
+0
- 0.035 ) 114.3(
+0
- 0.035 )
+0
110( - 0.035 )
LL濑without brake濒 169 202.1 235.3 279.7 342.0 163.5
LL濑with brake濒 203.1 235.3 279.3 311.7 376.1 198
LS 73 73 73 108.5 108.5 47
LR 79 79 79 113 113 55
LE 4 4 4 4 4 6
LG 20 20 20 20 20 11.5
LW 63 63 63 90 90 36
RH 30 30 30 37 37 18
WK 10 10 10 12 12 8
W 10 10 10 12 12 8
T 8 8 8 8 8 7
M12 M12 M12 M16 M16 M6
TP
Depth 25 Depth 25 Depth 25 Depth 32 Depth 32 Depth 20

28.66 57.29 71.62 87.53 119.36

(300%) (300%) (300%) (300%) (250%)
19.10 28.65 35.01 47.74
9.55
(100%) (100%) (100%) (100%)
(100%)
9.55 14.33 17.51 23.87
6.4 Continuous Duty Zone (50%)
(67%) Continuous Duty Zone (50%) Continuous Duty Zone (50%) Continuous Duty Zone (50%) Continuous Duty Zone Continuous Duty Zone
2,000 3,000 1,500 3,000 1,500 3,000 1,500 3,000 1,500 3,000
ECMA-K 1820 ː S ECMA-L 1830 ː S ECMA-L 1845 ː S ECMA-L 1855 ː 3 ECMA-L 1875 ː S
Torque (N-m)
21.48
(250%)
Intermittent Duty Zone

8.59
(100%)
4.3
(50%) Continuous Duty Zone
Speed (r/min)
1,000 2,000
ECMA-M 1309 ː S
28
Part Names and Functions
LED
Operation
Display
ą LED Panel
Display / Operation Panel / Charge LED
• LED Display
The 5 digit, 7 segment LED displays the
servo status or fault codes. Charge LED
• 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
• 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.
ą Full-Closed Loop Control Interface
• Used to connect linear scale and encoder for
controlling A, B, Z phase signals.
ą I/O Interface
• Used to connect Delta's DVP series
PLC or other external controllers for
controlling I/O signals.
ą High-speed Communication Port
• 1-in/1-out communication ports offer easy serial
connection.
ą Motor Encoder Interface
• Used to connect the encoder of the servo motor
ą ExtensionDigital Input
Connection Port
• Used to connect a removable digital
input terminal block. Max. 6 digital inputs
can be added.
ą Serial Communication Port
• Used to connect PLC, HMI, and other
controllers for RS-485 / RS-232 serial
communication.
ą USB Connection Port
• Used to connect personal computers or
notebooks.
• Ver 1.1 USB is equipped as standard.
• Direct connectivity to personal computers
or notebooks, capable of accessing data
WKURXJK$6'$6RIWFRQ¿JXUDWLRQVRIWZDUH
• Monitor speed upon software is up to 1Mbps.
29
ą Internal & External Regenerative Resistor Terminal /
Control Circuit Terminal / Main Circuit Terminal
• 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
UHVLVWRUVSHFL¿FDWLRQVIRUWKHPRGHOVZLWKDEXLOWLQUHJHQHUDWLYHUHVLVWRU
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.
• When using an external braking unit, connect it to P ¦ and
• Control Circuit Terminal (L1C, L2C or DC24V, DC0V)
- 220V Series: L1C, L2C are used to connect 200 ~ 230Vac,
50/60Hz single-phase or three-phase power supply.
- 400V Series: DC24V, DC0V are used to connect 24Vdc 10%
power supply.
• Main Circuit Terminal (R, S, T)
- 220V Series: Used to connect 200~230Vac, 50/60Hz commercial
power supply.
- 400V Series: Used to connect 380~480Vac, 50/60Hz commercial
power supply.
ą 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.
ą Ground Terminal
• Used to connect grounding wire of power
supply and servo motor.
ą Heatsink
• Used to secure servo drive and for heat
dissipation.
1RWH7KH¿JXUHVDUHIRULOOXVWUDWLRQSXUSRVHVRQO\$FWXDOPRGHOVPD\GLIIHUVOLJKWO\
in appearance to illustrations provided.
30
Wiring
200V Series
Position (PT) Control Mode (for Pulse Command Input)
Pulse input (Open-collector NPN),

for the use of internal power supply
Controller Servo Drive
VDD 17 DC24V Servo Drive

Max.
MCCB MC
Pull-hi_S 35 Approx. Input pulse
*1
1K˖
51ȍ
frequency is
200Kpps AC 200/230V R ASDA-A2 Series P+
Single-phase or S Regenerative
D
/SIGN 37 51ȍ
Approx.1K˖
Three-phase T Resistor
50/60 Hz *3 C
/PULSE 41
51ȍ - U
Red
COM-
45 51ȍ
Max.
L 1C White Power
Input pulse
frequency is L 2C V Supply
SG 200Kpps
Black
CN1 W
(
Green
EMGS BRKR
/SIGN 37 24V *2 Brake

Pulse input (Open-collector PNP),
for the use of internal power supply Pulse Input SIGN 36 CN2
(Line Driver) /PULSE 41 5 T+ Blue
Controller Servo Drive Encoder
Twisted-pair or
10K˖
PULSE 43 4 T- Blue/Black
VDD 17
DC24V Max.
Input pulse twisted-shield
frequency is
s10 V 10K˖ T-REF 18 7 - -
PULSE 43 51ȍ
200Kpps 10K˖ cable
GND 13 9 -
1K˖
51ȍ
-
/PULSE 41
/HSIGN 40 14,16 +5V Red/Red & Whit SG
High-speed
51ȍ
HSIGN 46 13,15
Pulse Input GND
36
Black/Black & Whit
SIGN
1K˖
/HPULSE 29
/SIGN 37 51ȍ
(Line Driver)
SG
COM- 45
Max.
Input pulse
HPULSE 38 CN3
frequency is
200Kpps
V MON1 16 6 RS485-
Twisted-pair or 10K˖ 5 RS485+
twisted-shield GND 12, 13, 19
cable
10K˖ DC24V 4 RS232_RX
for the use of external power supply V MON2 15
SG
3 -
Controller Servo Drive VDD 17
2 RS232_TX
Pull-hi_S 35 Max. COM+ 11
Approx.
Input pulse
frequency is
1 GND
DC 24V 1K˖
51ȍ
200Kpps
COM- 45,47,49 CN7
4.7K˖
SON DI1 9 1 COM+
/SIGN 37 51ȍ
4.7K˖
Approx.1K˖ CCLR DI2 10 4.7K˖
2 EDI9-
51ȍ 4.7K˖
TCM0 DI3 34 4.7K˖
3 EDI10-
41 51ȍ
/PULSE 4.7K˖ 4.7K˖
Max. Input pulse
TCM1 DI4 8 4 EDI11-
frequency is 4.7K˖ 4.7K˖
200Kpps
ARST DI5 33 5 EDI12-
SG
4.7K˖
NL DI6 32
4.7K˖
6 EDI13-
4.7K˖
PL 4.7K˖ 7 EDI14-
Pulse input (Open-collector PNP), DI7 31
for the use of external power supply
EMGS DI8 30
4.7K˖ CN4
Controller Servo Drive 1 +5V DC
Max. Input pulse DO1+ 7 2 Data-
,
DC24V
frequency is SRDY 1.5K˖
200Kpps
DO1- 6 3 Data+
.
PULSE 43 51ȍ
1Kȍ
/PULSE 41 51ȍ DO2+ 5 4 Ground
ZSPD 1.5K˖
SIGN 36 51ȍ DO2- 4 CN5
1Kȍ
DO3+ 3 8 +5V
/SIGN 37 51ȍ
24V HOME 1.5K˖
SG Max. Input pulse DO3- 2 4 Opt A
frequ ency is 200Kpps
DO4+ 1 5 Opt /A
TPOS 1.5K˖
Pulse input (Line driver). DO4- 26 3 Opt B
It requires 5V power supply only. DO5+ 28 2 Opt /B
Never apply a 24V power supply. ALRM 1.5K˖
Controller Servo Drive DO5- 27 9 Opt Z
OA 21 1 Opt /Z
A Phase Pulse
Max. Input pulse
frequency is /OA 22 6 GND
500Kpps
36 51ȍ
SIGN
OB 25 7 GND
B Phase Pulse
23
/SIGN 51ȍ
37
/OB
Encoder OZ 50 CN6 CANopen
PULSE 43 51ȍ Pulse Output Z Phase Pulse
/OZ 24 1,9 CAN H
/PULSE 41 51ȍ
2,10 CAN L
Max. Input pulse
Z Phase Open OCZ 48
frequency is
500Kpps 3,11 CAN GND
SG
Collector GND 13
4,12 -
Max. Output
Current 50mA 5,13 -
Voltage 30V
High-speed pulse input (Line driver).
It requires 5V power supply only. 6,14 -
Never apply a 24V power supply. 7,15 CAN GND
8,16 -
HSIGN 46 2Kȍ
100͖
/HSIGN 40 2Kȍ
HPULSE 38 2Kȍ
/HPULSE 29
100͖
2Kȍ Please note:
*1. 400W ~ 4.5kW servo drives provide a built-in regenerative resistor.
SG
13 *2. The brake oil has no polarity.
GND GND
*3. Single-phase connections are for servo drives 1.5kW and below only.
31
200V Series
Position (PR) Control Mode (for Internal Procedure Control)
MCCB Servo Drive

MC
*1
AC 200/230V R ASDA-A2 Series P+
Three-phase D
T Resistor
50/60 Hz *3 C
- U
Red
L 1C White Power
L 2C V Supply
Black
W
(
Green EMGS BRKR
*2
24V Brake
CN1
10K˖
CN2
s10 V 10K˖ T-REF 18 T+
10K ˖ 5 Blue Encoder
GND 13 Twisted-pair or
4 T- Blue/Black
16 twisted-shield
Twisted-pair or
V MON1 7 - - cable
10K˖
twisted-shield GND 12, 13, 19 9 - -
cable 10K˖
MON2 DC24V
V 15 14,16 +5V Red/Red & Whit SG
SG
VDD 17 13,15 GND Black/Black & Whit
COM+ 11 CN3
COM- 45,47,49 6 RS485-
4.7K˖
SON DI1 9 5 RS485+
4.7K˖
CTRG DI2 10 4 RS232_RX
4.7K˖
3 -
POS0 DI3 34
4.7K˖ 2 RS232_TX
POS1 DI4 8
4.7K˖ 1 GND
ARST DI5 33
4.7K˖
CN7
NL DI6 32
1 COM+
PL DI7 31
4.7K˖
4.7K˖
2 EDI9-
EMGS DI8 30
4.7K˖
4.7K˖
3 EDI10-
4.7K˖
DO1+ 7 4 EDI11-
SRDY 1.5K˖ 4.7K˖
DO1- 6 5 EDI12-
4.7K˖
DO2+ 5 6 EDI13-
ZSPD 1.5K˖ 4.7K˖
DO2- 4 7 EDI14-
DO3+ 3 CN4
24V HOME 1.5K˖
DO3- 2 1 +5V DC
1 2 Data-
DO4+
TPOS 1.5K˖
3 Data+
DO4- 26
4 Ground
ALRM 1.5K˖
DO5+ 28
CN5
DO5- 27
8 +5V
OA 21
A Phase Pulse 4 Opt A
/OA 22
5 Opt /A
OB 25
B Phase Pulse 3 Opt B
/OB 23
Encoder Opt /B
Pulse Output OZ 50 2
Z Phase Pulse Opt Z
/OZ 24 9
1 Opt /Z
OCZ 48 6 GND
Z Phase Open
Collector GND 13 7 GND
Max. Output
Current 3A
Voltage 50V CN6 CANopen
1,9 CAN H
2,10 CAN L
3,11 CAN GND
4,12 -
5,13 -
6,14 -
7,15 CAN GND
8,16 -
Please note:
*2. The brake oil has no polarity.
32
Wiring
200V Series
Speed (S), T orque (T) Control Mode (for Analog Voltage Input and Internal Parameter
Setting)
MCCB Servo Drive

MC
AC 200/230V *1
R ASDA-A2 Series P+
Three-phase D Resistor
T
50/60 Hz *3 C
- U
Red
L 1C White Power
L 2C V Supply
Black
W
(
Green EMGS BRKR
*2 Brake
CN1
10K˖ 24V
s10 V 10K˖ V-REF 42 CN2

10K˖
GND 44 10K˖ 5 T+ Blue Encoder
Twisted-pair or
4 T- Blue/Black
s10 V 10K˖ T-REF 18 10K˖
twisted-shield
GND 13 7 - - cable
9 - -
V MON1 16
Twisted-pair or 10K˖ 14,16 +5V Red/Red & Whit SG
twisted-shield GND 12, 13, 19
cable
10K˖
MON2
DC24V 13,15 GND Black/Black & Whit
V 15
SG
CN3
VDD 17
6 RS485-
COM+ 11
5 RS485+
COM- 45,47,49
4.7K˖ 4 RS232_RX
SON DI1 9 3 -
4.7K˖
TRQLM / SPDLM DI2 10 2 RS232_TX
4.7K˖
SPD0 / TCM0 DI3 34 1 GND
4.7K˖
SPD1 / TCM1 DI4 8 CN7
4.7K˖
ARST DI5 33 1 COM+
4.7K˖ 4.7K˖
CWL DI6 32 2 EDI9-
4.7K˖
CCWL DI7 31
4.7K˖ 3 EDI10-
4.7K˖
EMGS 4.7K˖ 4 EDI11-
DI8 30 4.7K˖
5 EDI12-
DO1+ 7 4.7K˖
SRDY 1.5K˖ 6 EDI13-
DO1- 6 4.7K˖
EDI14-
7
DO2+ 5
ZSPD 1.5K˖ CN4
DO2- 4 1 +5V DC
DO3+ 3 2 Data-
24V TSPD 1.5K˖
DO3- 2 3 Data+
DO4+ 1 4 Ground
BRKR 1.5K˖
DO4- 26 CN5
DO5+ 28 8 +5V
ALRM 1.5K˖
DO5- 27 4 Opt A
OA 21 5 Opt /A
A Phase Pulse
/OA 22 3 Opt B
OB 25 2 Opt /B
B Phase Pulse
/OB 23 9 Opt Z
Encoder OZ 50
Z Phase Pulse 1 Opt /Z
Pulse Output
/OZ 24 6 GND
7 GND
Z Phase Open OCZ 48
Collector GND 13 CN6 CANopen
Max. Output 1,9 CAN H
Current 50mA
Voltage 30V
2,10 CAN L
3,11 CAN GND
4,12 -
5,13 -
6,14 -
7,15 CAN GND
8,16 -
Please note:
33
200V Series
CANopen Communication Mode
MCCB Servo Drive

MC
AC 200/230V R ASDA-A2 series P+ *1
Three-phase S D R egenerative
50/60 Hz *3 T Resistor
C
U Power
L 1C Red Supply
V
L 2C White
W
Black 24V EMGS BRKR Brake
*2
Green
CN2 Encoder
5 T+ Blue
CN1 DC24V 4 T- Blue/Black Twisted-pair or
VDD 17 twisted-shield
7 - - cable
COM+ 11 9 - -
COM- 45,47,49 14,16 +5V Red/Red & Whit SG
Reserved DI1 9 4.7K˖
13,15 GND Black/Black & Whit
Reserved DI2 10 4.7K˖
DI3 34 4.7K˖ CN4

Reserved
4.7K˖ 1 +5V DC
DI4 8
ORGP 4.7K˖ 2 Data-
DI5 33
NL 4.7K˖ 3 Data+
DI6 32
PL 4.7K˖ 4 GND
DI7 31
EMGS 4.7K˖
DI8 30 CN5
DO1+ 7 8 +5V
SRDY 1.5K˖
DO1- 6 4 Opt A
DO2+ 5 5 Opt /A
ZSPD 1.5K˖
DO2- 4 Opt B
24V 3
DO3+ 3 2 Opt /B
HOME 1.5K˖
DO3- 2 9 Opt Z
DO4+ 1 1 Opt /Z
TPOS 1.5K˖
DO4- 26 6 GND
DO5+ 28 7 GND
ALRM 1.5K˖
DO5- 27
OA 21
A P hase P ulse
/OA 22 CN6 CANopen (Applicable to ASDA-A2-M) CN6 DMCNET (Applicable to ASDA-A2-F)
OB 25 1 CAN H 1 DMCNET_1A
B Phase Pulse
/OB 23 2 CAN L 2 DMCNET_1B
Encoder OZ 50
Pulse Output 3 CAN GND 3 DMCNET_2A
Z Phase Pulse
/OZ 24 4 - 4 -
Data Input Data Input
5 - 5 -
OCZ 48 6 - 6 DMCNET_2B
Z Phase Open
Collector GND 13 7 CAN GND 7 -
Max. Output 8 - 8 -
Current 50mA
Voltage 30V
9 CAN H 9 DMCNET_1A
CN3 10 CAN L 10 DMCNET_1B
RS485- 6 11 CAN GND 11 DMCNET_2A
RS485+ 5 12 - 12 -
Data Output Data Output
RS232_RX 4 13 - 13 -
- 3 14 - 14 DMCNET_2B
RS232_TX 2 15 CAN GND 15 -
GND 1 16 - 16 -
Please note:
34
Wiring
400V Series
Position (PT) Control Mode (for Pulse Command Input)

for the use of internal power supply
VDD 17 DC24V
MCCB
Servo Drive
Pull-hi_S 35
Max.
Approx. Input pulse MC
frequency is
*1
R ASDA-A2 Series
1K˖
200Kpps
51͖
AC 380/480V P+
/SIGN 37 51ȍ
Three-phase S Regenerative
D
Approx.1K& T Resistor
C
/PULSE 41
51ȍ
DC 24V - Red
51ȍ 24V U Power
COM-
45 Max. Input
pulse frequ Power White
ency is
0V V Supply
SG 200Kpps Supply Black
CN1 W
(
Green
EMGS BRKR
Pulse input (Open-collector PNP), /SIGN 37 24V *2 Brake

for the use of internal power supply Pulse Input SIGN 36 CN2
(Line Driver) /PULSE 41 T+ Blue
Controller Servo Drive 10K͖
5 Encoder
PULSE 43 T- Twisted-pair or
DC24V Max. 4 Blue/Black
VDD 17
twisted-shield
Input pulse
frequency is
200Kpps Ʋ10V 10K͖ T-REF 18 Reserved - -
PULSE 43 51ȍ 10K͖
cable
GND 13 Reserved -
1Kȍ
/PULSE 41 51ȍ -
/HSIGN 40 14,16 +5V Red/Red & White SG
36
51ȍ High-speed HSIGN 46 GND
SIGN
13,15 Black/Black & White
1Kȍ
/SIGN 37 51ȍ Pulse Input /HPULSE 29
SG Max. Input (Line Driver) HPULSE 38 CN3
COM- 45 pulse frequ
ency is
200Kpps
V MON1 16 6 RS485-
Twisted-pair or 10K͖
GND 12,13,19 5 RS485+
Pulse input (Open-collector NPN), twisted-shield
10K͖
MON2 DC24V 4 RS232_RX
for the use of external power supply cable V 15
SG
3 -
VDD 17
2 RS232_TX
Pull-hi_S 35
Approx.
Max.
Input pulse COM+ 11 1 GND
frequency is
DC 24V 1Kȍ 200Kpps
COM- 45,47,49

51ȍ
4.7K͖ CN7
/SIGN 37 51ȍ
SON DI1 9
1 COM+
4.7K͖
Approx.1Kȍ
51ȍ
CCLR DI2 10 4.7K͖
2 EDI9-
4.7K͖
41 51ȍ
TCM0 DI3 34
4.7K͖
3 EDI10-
/PULSE
4.7K͖ 4.7K͖
Max. Input pulse TCM1 DI4 8 4 EDI11-
frequ ency is 200Kpps 4.7K͖ 4.7K͖
SG
ARST DI5 33 5 EDI12-
4.7K͖
CWL
4.7K͖
6 EDI13-
DI6 32 4.7K͖
Pulse input (Open-collector PNP), CCWL 4.7K͖ 7 EDI14-
DI7 31
for the use of external power supply
EMGS DI8 30
4.7K͖ CN4
Controller Servo Drive 1 +5V DC
Max. Input pulse DO1+ 7 2
,
DC24V frequency is
200Kpps
SRDY 1.5K͖ Data-
DO1-
.
51ȍ
PULSE 43
6 3 Data+
1Kȍ
/PULSE 41 51ȍ
DO2+ 5 4 Ground
ZSPD 1.5K͖
36 51ȍ DO2- 4
CN5
SIGN
1Kȍ
51ȍ DO3+ 3
24V
37
8 +5V
/SIGN
HOME 1.5K͖
SG Max. Input pulse
DO3- 2
frequ ency is 200Kpps
4 Opt A
DO4+ 1
TPOS 1.5K͖ 5 Opt /A
Pulse input (Line driver). DO4- 26
It requires 5V power supply only. 3 Opt B
Never apply a 24V power supply.
DO5+ 28
ALRM 1.5K͖ 2 Opt /B
Controller Servo Drive DO5- 27
9 Opt Z
OA 21
Max. Input pulse A Phase Pulse 1 Opt /Z
frequency is
500Kpps /OA 22
SIGN 36 51ȍ
6 GND
OB 25
/SIGN 37 51ȍ B Phase Pulse 7 GND
/OB 23
Encoder OZ 50
PULSE 43 51ȍ
Pulse Output Z Phase Pulse CN6 CANopen
/OZ 24
/PULSE 41 51ȍ 1,9 CAN H
Max. Input pulse frequ 2,10 CAN L
ency is 500Kpps Z Phase Open OCZ 48
Collector 3,11 CAN GND
SG
GND 13
Max. Output 4,12 -
Current 50mA
High-speed pulse input (Line driver). Voltage 30V 5,13 -
It requires 5V power supply only. 6,14 -
Never apply a 24V power supply.
Controller Servo Drive 7,15 CAN GND
8,16 -
HSIGN 46 2Kȍ
100ȍ
/HSIGN 40 2Kȍ
HPULSE 38 2Kȍ
Please note:
100ȍ
/HPULSE 29 2Kȍ
SG
13
*1 400W ~ 4.5kW servo drives provide a built-in regenerative resistor.
GND GND
*2 The brake oil has no polarity.
35
400V Series
Position (PR) Control Mode (for Internal Procedure Control)
MCCB Servo Drive

MC
*1
AC 380/480V R ASDA-A2 Series P+
Three-phase S Regenerative
D
T Resistor
C
- Red
DC 24V U
24V White Power
Power V Supply
0V Black
Supply
W
(
Green 24V
EMGS BRKR
*2 Brake
CN1
10K͖
CN2
Ʋ10V 10K͖ T-REF 18 10K͖ 5 T+ Blue Encoder
GND 13 Twisted-pair or
4 T- Blue/Black
V MON1 16 twisted-shield
Reserved - -
Pulse Input 10K͖
GND 12,13,19
cable
Reserved - -
(Line Driver) 10K͖ DC24V
V MON2 15 14,16 +5V Red/Red & White SG
SG
VDD 17 13,15 GND Black/Black & White
COM+ 11 CN3
COM- 45,47,49 6 RS485-
4.7K͖
SON DI1 9 5 RS485+
4.7K͖
CTRG DI2 10 4 RS232_RX
4.7K͖ 3 -
POS0 DI3 34
4.7K͖ 2 RS232_TX
POS1 DI4 8
4.7K͖ 1 GND
ARST DI5 33
NL
4.7K͖ CN7
DI6 32
1 COM+
PL DI7 31
4.7K͖
4.7K͖
2 EDI9-
EMGS DI8 30
4.7K͖
4.7K͖
3 EDI10-
4.7K͖
DO1+ 7 4 EDI11-
SRDY 1.5K͖ 4.7K͖
DO1- 6 5 EDI12-
4.7K͖
DO2+ 5 6 EDI13-
ZSPD 1.5K͖ 4.7K͖
DO2- 7 EDI14-
4
DO3+ 3 CN4
HOME 1.5K͖
DO3- 2 1 +5V DC
24V
DO4+ 1 2 Data-
TPOS 1.5K͖
DO4- 26 3 Data+
DO5+ 28 4 Ground
ALRM 1.5K͖
DO5- 27 CN5
8 +5V
OA 21
A Phase Pulse 4 Opt A
/OA 22
OB 25 5 Opt /A
B Phase Pulse
/OB 23 3 Opt B
Encoder
Pulse Output OZ 50 2 Opt /B
Z Phase Pulse /OZ 24 Opt Z
9
1 Opt /Z
OCZ 48
Z Phase Open 6 GND
Collector GND 13
7 GND
Max. Output
Current 3A
Voltage 50V CN6 CANopen
1,9 CAN H
2,10 CAN L
3,11 CAN GND
4,12 -
5,13 -
6,14 -
7,15 CAN GND
8,16 -
Please note:
36
Wiring
400V Series
Speed (S), T orque (T) Control Mode (for Analog Voltage Input and Internal Parameter
Setting)
MCCB Servo Drive

MC
*1
R ASDA-A2 Series P+
AC 380/480V S Regenerative
Three-phase D
T Resistor
C
- Red
DC 24V U
24V White Power
Power V Supply
0V Black
Supply
W
(
Green 24V
EMGS BRKR
*2 Brake
CN1 10K͖
Ʋ10 V 10K͖ V-REF 42 10K͖

CN2
GND 44 10K͖
5 T+ Blue Encoder
4 T- Blue/Black Twisted-pair or
Ʋ10 V 10K͖ T-REF 18 10K͖ twisted-shield
GND 13 Reserved - - cable
Reserved - -
V MON1 16
Pulse Input 10K͖ 14,16 +5V Red/Red & White SG
GND 12,13,19
(Line Driver) 10K͖ DC24V 13,15 GND Black/Black & White
V MON2 15
SG
17
CN3
VDD
6 RS485-
COM+ 11
5 RS485+
SON COM- 45,47,49
4.7K͖
4 RS232_RX
TRQLM/SPDLM DI1 9 3 -
4.7K͖
SPD0/TCM0 DI2 10 2 RS232_TX
4.7K͖
SPD1/TCM1 DI3 34 1 GND
4.7K͖
ARST DI4 8 CN7
4.7K͖
CWL DI5 33 1 COM+
4.7K͖ 4.7K͖
CCWL DI6 32 2 EDI9-
4.7K͖
EMGS DI7 31
4.7K͖ 3 EDI10-
4.7K͖
4.7K͖ 4 EDI11-
DI8 30 4.7K͖
5 EDI12-
DO1+ 7 4.7K͖
6 EDI13-
SRDY 1.5K͖
DO1- 6 4.7K͖
7 EDI14-
DO2+ 5
ZSPD 1.5K͖ CN4
DO2- 4 1 +5V DC
DO3+ 3 2 Data-
TSPD 1.5K͖
24V DO3- 2 3 Data+
DO4+ 1 4 Ground
BRKR 1.5K͖
DO4- 26 CN5
DO5+ 28 8 +5V
ALRM 1.5K͖
DO5- 27 4 Opt A
OA 21 5 Opt /A
A Phase Pulse
/OA 22 3 Opt B
OB 25
B Phase Pulse 2 Opt /B
/OB 23
Encoder 9 Opt Z
OZ 50
Pulse Output Z Phase Pulse 1 Opt /Z
/OZ 24
6 GND
Z Phase Open OCZ 48 7 GND
Collector GND 13
CN6 CANopen
Max. Output 1,9 CAN H
Current 50mA
Voltage 30V
2,10 CAN L
3,11 CAN GND
4,12 -
5,13 -
6,14 -
7,15 CAN GND
8,16 -
Please note:
37
400V Series
CANopen Communication Mode 濑for ASDA-A2-M Series濒
MCCB MC Servo Drive
R ASDA-A2 series P+
*1
AC 380/480V
S Regenerative
Three-phase D Resistor
T
C
-
DC 24V 24V
U Power
Red Supply
Power 0V V
White
Supply W Black 24V
EMGS BRKR
Brake
*2
Green
CN2 Encoder
DC24V 5 T+ Blue
CN1 4 T- Blue/Black Twisted-pair or
VDD 17 twisted-shield
7 - - cable
COM+ 11 9 - -
COM- 45,47,49 14,16 +5V Red/Red & White SG
Reserved DI1 9 4.7K͖
13,15 GND Black/Black & White
Reserved DI2 10 4.7K͖
Reserved DI3 34 4.7K͖ CN4

Reserved 1 +5V DC
DI4
4.7K͖
8
ORGP DI5
4.7K͖ 2 Data-
33
NL DI6 32
4.7K͖ 3 Data+
PL DI7 31
4.7K͖
4 GND
4.7K͖
EMGS DI8 30 CN5
DO1+ 7 8 +5V
SRDY 1.5K͖
DO1- 6 4 Opt A
DO2+ 5 5 Opt /A
ZSPD 1.5K͖
DO2- 4 3 Opt B
24V DO3+ 3 2 Opt /B
HOME 1.5K͖
DO3- 2 9 Opt Z
TPOS
DO4+ 1 1 Opt /Z
1.5K͖
DO4- 26 6 GND
DO5+ 28 7 GND
ALRM 1.5K͖
DO5- 27
OA 21
A Phase Pulse
/OA 22 CN6 CANopen (Applicable to ASDA-A2-M) CN6 DMCNET (Applicable to ASDA-A2-F)
OB 25 1 CAN H 1 DMCNET_1A
B Phase Pulse
/OB 23 2 CAN L 2 DMCNET_1B
Encoder OZ 50
Pulse Output Z Phase Pulse 3 CAN GND 3 DMCNET_2A
/OZ 24 4 - 4 -
Data Input Data Input
5 - 5 -
OCZ 48 6 - 6
Z Phase Open DMCNET_2B
Collector GND 13 7 CAN GND 7 -
Max. Output 8 - 8 -
Current 50mA
Voltage 30V
9 CAN H 9 DMCNET_1A
CN3 10 CAN L 10 DMCNET_1B
RS485- 6 11 CAN GND 11 DMCNET_2A
RS485+ 5 12 - 12 -
Data Output Data Output
RS232_RX 4 13 - 13 -
- 3 14 - 14 DMCNET_2B
RS232_TX 2 15 CAN GND 15 -
GND 1 16 - 16 -
Please note:
38
$6'$6RIW&RQ¿JXUDWLRQ6RIWZDUH
• Strong CAPTURE and COMPARE functions for position

ODWFKDQGGHWHFWLRQKHOS\RXFRPSOHWHV\VWHPFRQ¿JXUDWLRQ
quickly.
• User-friendly E-CAM editing interface is provided for

designing E-CAM outlines and curves freely. In addition,
TXLFNVHWWLQJVIRUÀ\LQJVKHDUDQGURWDU\FXWDSSOLFDWLRQV
are offered.
39
• Versatile on-line 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 easily achieved.
40
Optional Accessories
ą Quick Connectors
• Used for 100W to 300W servo drives.
• One operating lever is
provided for wire to
terminal block insertion.
n.
ą Power Cables
• 3m and 5m standard cables
bles are
available.
• Customized service is offered to
meet the needs of customers.
• Two types are selectable:
electable: with brake
ke.
and without brake.
ą Encoder Cables
• 3m and 5m standard cables are
available.
• Customized service is offered to
meet the needs of customers.
ą RS-232 Communication Cables

es
• Connects ASDA-A2 to PLC, HMI
and other controllers via RS-232
2
communication.
• Standard cable length is 3m
41
ą CN1 I/O connector ą Terminal Block Modules
• Delta Part Number: ASD-IF-SC5020 • Easy installation and wiring.
• 0.5m connection cable is
provided. Easy to reduce the
space required.
• Easy to expand system's I/O
FRQ¿JXUDWLRQ
ą Regenerative Resistors
• For selecting a regenerative
resistor, please refer to e
table of regenerative resistor
VSHFL¿FDWLRQVRQSDJH
ą USB Communication
Cables (for PC)
• USB Communication
Cables (for PC)
• USB1.1 is equipped as
standard.
ą CANopen Accessories
• Delta's TAP-CN03 distribution
box connects ASDA-A2 to
Delta's PLC CAN Master
• CANopen communication
cable is provided
ą RS-485 Connectors
• Used to connect multiple
ASDA-A2 series products
by RS-485 interface through
Modbus serial communication.
1RWH7KH¿JXUHVDUHIRULOOXVWUDWLRQSXUSRVHVRQO\$FWXDOPRGHOVPD\GLIIHUVOLJKWO\
in appearance to illustrations provided.
42
6HUYR'ULYH6SHFL¿FDWLRQV
220V Series
100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW 4.5 kW 5.5 kW 7.5 kW 11 kW 15kW
ASDA-A2 Series
01 02 04 07 10 15 20 30 45 55 75 1B 1F
Phase / Voltage Three-phase / Single-phase 220VAC 3-phase 220VAC
Permissible Voltage Range 1-phase / 3-phase 200 ~ 230VAC, -15% ~ 10% 3-phase 200 ~ 230VAC, -15% ~ 10%
supply
Power
Input Current(3PH) (Units: Arms) 0.39 1.11 1.86 3.66 4.68 5.9 8.76 9.83 17.5 19.4 26.3 48 63
Input Current(1PH) (Units: Arms) 0.69 1.92 3.22 6.78 8.88 10.3 - - - - - - -
Continuous Output Current (Units: Arms) 0.9 1.55 2.6 5.1 7.3 8.3 13.4 19.4 32.5 40 47.5 54.4 70
Cooling System Natural Air Circulation Fan Cooling
Encoder Resolution / Feedback Resolution Incremental encoder: 20-bit ƞAbsolute encoder: 17-bit
Control of Main Circuit SVPWM(Space Vector Pulse Width Modulation) Control
Tuning Modes Auto / Manual
Regenerative Resistor None Built-in External
Max. Input Pulse Frequency
Position Control Mode
Max. 500Kpps / 4Mpps (Line driver), Max. 200Kpps (Open collector)

(Only for Non-DMCNET mode)
Pulse Type (Only for Non-DMCNET mode) Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source External pulse train (PT mode) (Only for Non-DMCNET mode) / Internal parameters (PR mode)
Smoothing Strategy /RZSDVVDQG3FXUYH¿OWHU
Electronic Gear 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
Analog Input Voltage Range 0 ~ 10 VDC
Command Input Resistance 10Kȍ
(Only for Non-DMCNET
Time Constant 2.2 ʛs
Speed Control Mode
mode)
Speed Control Range *1 1: 5000 1: 3000 1: 2000

Command Source External analog signal (Only for Non-DMCNET mode) / Internal parameters
Torque Limit Operation Set by parametersor via analog input (Only for Non-DMCNET mode)
Frequency Response Characteristic Maximum 1kHz
*2
RUOHVVDWWRORDGÀXFWXDWLRQ
Speed Accuracy
(At rated rotation speed) 0.01% or less at SRZHUÀXFWXDWLRQ
RUOHVVDW&WR&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
Torque Control

Time Constant
Mode
mode) 2.2 ʛs
Smoothing Strategy /RZSDVV¿OWHU
Speed Limit Operation Set by parametersor via analog input (Only for Non-DMCNET mode)
Analog Monitor Output Monitor signal can set by parameters (Output voltage range: 8V)
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 /
Digital Inputs / Outputs
Torque mode switching, Torque / Position mode switching, PT / PR command switching, Emergency stop, Forward / Reverse inhibit
Inputs limit, Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home", Electronic Cam (E-CAM), Forward /
Reverse JOG input, Event trigger PR command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
* Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital inputs into the servo
drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and Reference "Home" sensor only.
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)
Outputs activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command
RYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQGFRPSOHWHG&DSWXUHRSHUDWLRQFRPSOHWHGRXWSXW0RWLRQ
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,
Protective Functions 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
Communication Interface RS-232 / RS-485 / CANopen / USB / DMCNET
Installation Site ,QGRRUORFDWLRQIUHHIURPGLUHFWVXQOLJKWQRFRUURVLYHOLTXLGDQGJDVIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Altitude Altitude 1000m or lower above sea level
Atmospheric Pressure 86kPa ~ 106kPa
Operating Temperature 0ºC ~ 55ºC (If operating temperature is above 45ºC, forced cooling will be required)
Environment
Storage Temperature -20ºC ~ 65ºC

Humidity 0 ~ 90% RH (non-condensing)
Vibration 9.80665 m/s2 (1G) less than 20Hz, 5.88 m/s2 (0.6G) 20 to 50Hz
IP Rating IP20
Power System TN System*3
Approvals IEC/EN 61800-5-1, UL 508C, C-tick
Footnote:
*1. 5DWHGURWDWLRQVSHHG:KHQIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
*2. :KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
*3. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
43
400V Series
750 W 1kW 1.5kW 2kW 3kW 4.5kW 5.5kW 7.5kW
ASDA-A2 Series
07 10 15 20 30 45 55 75
Input Voltage 24VDC, 10%
Control
Power
Input Current 0.89A 1.18A 1.66A

Input Power 21.4W 28.2W 39.85W
Permissible Voltage Range 3-phase380 ~ 480VAC, 10%
Power
Main
Input Current (Units: Arms) 2.22 3.02 4.24 5.65 8.01 11.9 14.1 17.27
Continuous Output Current (Units: Arms) 3.07 3.52 5.02 6.66 11.9 20 22.37 30
Cooling System Fan Cooling
Encoder Resolution / Feedback Resolution Incremental encoder: 20-bit ƞAbsolute encoder: 17-bit
Control of Main Circuit SVPWM(Space Vector Pulse Width Modulation) Control
Tuning Modes Auto / Manual
Regenerative Resistor Built-in External
Max. Input Pulse Frequency(Only for Non-
Position Control Mode
Max. 500Kpps / 4Mpps (Line driver), Max. 200Kpps (Open collector)

DMCNET mode)
Pulse Type (Only for Non-DMCNET mode) Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source External pulse train (Only for Non-DMCNET mode)/Internal parameters
Electronic Gear 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
Time Constant
Speed Control Mode
mode) 2.2 ʛs
Speed Control Range *1 1: 5000 1: 3000
Torque Limit Operation Set by parametersor via analog input (Only for Non-DMCNET mode)
Frequency Response Characteristic Maximum 1kHz
RUOHVVDWWRORDGÀXFWXDWLRQ
Speed Accuracy *2 0.01% or less at SRZHUÀXFWXDWLRQ
RUOHVVDW&WR&DPELHQWWHPSHUDWXUHÀXFWXDWLRQ
Torque Control

Time Constant
Mode
mode) 2.2 ʛs
Smoothing Strategy /RZSDVV¿OWHU
Speed Limit Operation Set by parametersor via analog input (Only for Non-DMCNET mode)
Analog Monitor Output Monitor signal can set by parameters (Output voltage range: 8V)
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
Inputs / Outputs
Inputs 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
Digital
* Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital inputs into the servo
drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and Reference "Home" sensor only.
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)
Outputs activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command
RYHUÀRZ)RUZDUG5HYHUVHVRIWZDUHOLPLW,QWHUQDOSRVLWLRQFRPPDQGFRPSOHWHG&DSWXUHRSHUDWLRQFRPSOHWHGRXWSXW0RWLRQ
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,
Protective Functions 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
Communication Interface RS-232 / RS-485 / CANopen / USB / DMCNET
Installation Site ,QGRRUORFDWLRQIUHHIURPGLUHFWVXQOLJKWQRFRUURVLYHOLTXLGDQGJDVIDUDZD\IURPRLOPLVWÀDPPDEOHJDVGXVW
Altitude Altitude 1000m or lower above sea level
Atmospheric Pressure 86kPa ~ 106kPa
Operating Temperature 0ºC ~ 55ºC(If operating temperature is above 45ºC, forced cooling will be required)
Environment
Storage Temperature -20ºC ~ 65ºC

Humidity 0 ~ 90% RH (non-condensing)
Vibration 9.80665 m/s2 (1G) less than 20Hz, 5.88 m/s2 (0.6G) 20 to 50Hz
IP Rating IP20
Power System TN System*3
Approvals IEC/EN 61800-5-1, UL 508C, C-tick
Footnote:
*1. 5DWHGURWDWLRQVSHHG:KHQIXOOORDGVSHHGUDWLRLVGH¿QHGDVWKHPLQLPXPVSHHGWKHPRWRUZLOOQRWSDXVH
*2. :KHQFRPPDQGLVUDWHGURWDWLRQVSHHGWKHVSHHGÀXFWXDWLRQUDWHLVGH¿QHGDV(PSW\ORDGURWDWLRQVSHHG)XOOORDGURWDWLRQVSHHG5DWHGURWDWLRQVSHHG
*3. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
44
Servo Drive Dimensions Units: mm(inches)
220V Series
100W / 200W / 400W
Weight

45(1.77)
70(2.76) 170(6.69)
27.5(1.08) )
.2
(0
5.2
162.5(6.4)
173(6.81)
12(0.47)
PE TERMINA L
750W / 1.0kW / 1.5kW
Weight

7)
65(2.5 6) (0 . 21 70(2.76) 180(7 .0 9)
5.5
173 (6.81)
163(6.42)
13(0 .5 1) 47(1.8 3) Gr ound Terminal
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.
45
2.0kW / 3.0kW
Weight

82(3.23) 2)
.2 70(2.76) 203(7.99)
5 (0
5.
203(7.99)
215.6(8.49)
14.5(0.57)
PE TER MINA L
62(2.44)
4.5kW
Weight

70(2.76) 206(8. 11)

110(4.33)
6( 91(3.58)
0.
24
)
230(9.06)
245(9.65)
Ground Terminal
91(3.58)
46
220V Series
5.5kW
Weight

123(4.84) 70(2 .7 6) 206(8.1 1)
6(
0. 107(4.21 )
24
)
245(9.65 )
230(9.06 )
Ground Termina l
107(4.21)
7.5kW
Weight

136(5.35 )
119.5(4.70) 70(2.76 ) 20 5. 4(8.09 )
6(
0.
24
)
244.75(9.65)
232(9.1 3)
247(9.72 )
26 0(10.24)
72.48(2.85)
44.9(1.77 )
107 (4. 21)
47
11kW / 15kW
Weight

218 .7
225 210
8
412. 7
43 8
45 8
8
10
225
305
6FUHZ0[
6FUHZ7RUTXHNJIFP
48
400V Series
750W / 1.0kW / 1.5kW
Weight

)
82(3.23) 22 70(2.76) 203(7.99 )
0.
5(
5.
216(8.5)
203(7.99)
14(0 .5 5) 62(2.44)
2.0kW / 3.0kW / 4.5kW / 5.5kW
Weight

123(4.84 ) 70(2 .7 6) 205.4(8. 11)
6( 107(4. 21 )
0.2
4)
230( 9. 06 )
245( 9.65 )
Gr ound Termina l
107(4.21 )
49
kW
Weight

136(5. 35 )
119.5(4. 70 )
6(
70(2.76) 205.4(8.09 )
0.
24
)
247(9.72)

44.9(1.77 )
107(4. 21)
50
Optional Cables and Connectors
ą Power Connectors
ASDBCAPW0000 (for 200V drives) ASD-CAPW1000
MS 3106A-20-18S
ASDBCAPW0100 (for 200V drives, with brake cable) ASD-CAPW2000
MS 3106A-24-11S
ASD-CAPW5400 (for 400V drives) ASD-CAPW4000
CLAMP:WPS3057-20A
CLAMP:WPS3057-20A
Straight
StraightPlug
PluWPS3106A-32-17S
gW
ASD-CAPW5100 (for 400V drives, with brake cable) ASD-CNBR1000
10 SL -4 S
CLAMP: WPS3106A 10SL-4S-R
51
ą Power Cables
ASD-ABPW0003, ASD-ABPW0005 (for 200V drives)
L
Item Part No.
mm inch
1 ASD-ABPW0003 3000 100 118 4
2 ASD-ABPW0005 5000 100 197 4
L
ASD-CAPW5403, ASD-CAPW5405 (for 400V drives)
L
Item Part No.
mm inch
1 ASD-CAPW5403 3000 100 118 4
L 2 ASD-CAPW5405 5000 100 197 4
AASD-ABPW0103, ASD-ABPW0105 (for 200V drives, with brake cable)
L
Item Part No.
mm inch
1 ASD-ABPW0103 3000 100 118 4
2 ASD-ABPW0105 5000 100 197 4
L
ASD-CAPW5103, ASD-CAPW5105 (for 400V drives, with brake cable)
L
Item Part No.
mm inch
1 ASD-CAPW5103 3000 100 118 4
L 2 ASD-CAPW5105 5000 100 197 4
ASD-CAPW1003, ASD-CAPW1005 (50 mm)

(1.97 inch)
L (80 mm)
(3.15 inch)
L
Item Part No. Straight
mm inch
1 ASD-CAPW1003 3106A-20-18S 3000 100 118 4
2 ASD-CAPW1005 3106A-20-18S 5000 100 197 4
52
ą Power Cables
ASD-CAPW1103, ASD-CAPW1105 (with brake cable)
(50 mm)
(1.97 inch)
L (80 mm)
(3.15 inch)
L
mm inch
1 ASD-CAPW1103 3106A-20-18S 3000 100 118 4
2 ASD-CAPW1105 3106A-20-18S 5000 100 197 4
ASDBCAPW1203, ASDBCAPW1205 (80 mm)

(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-BCAPW1203 3106A-20-18S 3000 100 118 4
2 ASDB-CAPW1205 3106A-20-18S 5000 100 197 4
(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-CAPW1303 3106A-20-18S 3000 100 118 4
2 ASD-CAPW1305 3106A-20-18S 5000 100 197 4
(50 mm)
ASD-A2PW1003, ASD-A2PW1005
(1.97 inch)
L (80 mm)
(3.15 inch)
L
mm inch
1 ASD-A2PW1003 3106A-20-18S 3000 100 118 4
2 ASD-A2PW1005 3106A-20-18S 5000 100 197 4
53
ą Power Cables
ASD-A2PW1103, ASD-A2PW1105 (with brake cable)
(50 mm)
(1.97 inch)
L (80 mm)
(3.15 inch)
L
mm inch
1 ASD-A2PW1103 3106A-20-18S 3000 100 118 4
2 ASD-A2PW1105 3106A-20-18S 5000 100 197 4
ASD-CAPW2003, ASD-CAPW2005 (80 mm)

(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-CAPW2003 3106A-24-11S 3000 100 118 4
2 ASD-CAPW2005 3106A-24-11S 5000 100 197 4

(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-CAPW2103 3106A-24-11S 3000 100 118 4
2 ASD-CAPW2105 3106A-24-11S 5000 100 197 4
ASD-CAPW2203, ASD-CAPW2205
(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-CAPW2203 3106A-24-11S 3000 100 118 4
2 ASD-CAPW2205 3106A-24-11S 5000 100 197 4
54
ą Power Cables
(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 ASD-CAPW2303 3106A-24-11S 3000 100 118 4
2 ASD-CAPW2305 3106A-24-11S 5000 100 197 4
ASD-CAPW3203, ASD-CAPW3205
L (80 mm)
(3.15 inch)
L1
L L1
mm inch mm inch
1 ASD-CAPW3203 MS 3106-24-11S 3000 100 118 4 3100 100 122 4
2 ASD-CAPW3205 MS 3106-24-11S 5000 100 197 4 5100 100 201 4
L (80 mm)
(3.15 inch)
L1
L L1
mm inch mm inch
1 ASD-CAPW3303 MS 3106-24-11S 3000 100 118 4 3100 100 122 4
2 ASD-CAPW3305 MS 3106-24-11S 5000 100 197 4 5100 100 201 4
ą Encoder Connectors
ASD-ABEN0000
55
ą Encoder Connectors
ASD-CAEN1000
ą Incremental Encoder Cables

ASD-ABEN0003濕ASD-ABEN00005
L
Item Part No.
mm inch
1 ASD-ABEN0003 3000 100 118 4
2 ASD-ABEN0005 5000 100 197 4
L
ASD-CAEN1003濕ASD-CAEN1005
L
mm inch
1 ASD-CAEN1003 3106A-20-29S 3000 100 118 4
2 ASD-CAEN1005 3106A-20-29S 5000 100 197 4
L
ą Absolute Encoder Cables

ASD-A2EB0003濕ASD-A2EB0005
30
±5 L
Item Part No.
mm inch
1 ASD-A2EB0003 3000 100 118 4
355±10 2 ASD-A2EB0005 5000 100 197 4
L
56
ą Absolute Encoder Cables
ASD-A2EB1003, ASD-A2EB1005
±5
30
355±10
L
L
Item Part No.
mm inch
1 ASD-A2EB1003 3000 100 118 4
2 ASD-A2EB1005 5000 100 197 4
ą Battery Box Cord AW (Connects to the battery side of the encoder cable) Units: mm
3864573700
15±5
25±5
See detail A See detail B

200±10
detail A detail B
(RED)1 1(RED)
(BLACK)2 2(BLACK)
ą Battery Box Cord IW (Connects to CN8) Units: mm
3864811900
15 ± 5 15 ± 5
See detail A 200 ± 10 See detail B
detail A detail B
1 (BLACK) 1 (RED)
2 (RED) 2 (BLACK)
57
ą Battery Boxes with batteries Units: mm ą I/O Signal Connector (CN1)
Single Battery Box Dual Battery Box ASD-CNSC0050
ASD-MDBT0100 ASD-MDBT0200
72 .5
68
35 45
22 26
64. 5
R
3.
25
R2
.5
ą Terminal Block Module

ASD-BM-50A
86.8mm
86.8 mm
0.5m
50.7mm
50.7 mm
146.4mm
146.4 mm
ą RS-232 Communication Cable

ASD-CARS0003
L
Item Part No.
mm inch
1 ASD-CARS0003 3000 100 118 4
58
ą Communication Cable between Drive and Computer (for PC)
DOP-CAUSBAB
A L B
P2 P3
P4
P1 P1 P4
CONDUCTOR INSULATOR
ALUMINUM
TINNED COPPER BRAID
PVC JACKET
L
Item Part No.
mm inch
1 DOP-CAUSBAB 1400 30 55 1.2
ą CANopen Communication Cable

TAP-CB03濕TAP-CB05

L
Item Part No.
mm inch
1 TAP-CB03 30010 110.4
2 TAP-CB05 50010 190.4
ą CANopen Distribution Box Units: mm[inch]
TAP-CN03
66.50[2.62]
87.00[3.43]
42.00[1.65]
1) Other accessories for ASDA-A2 series will be increased gradually.

2) Accessories images shown here may differ from actual product appearance.
Please refer to the actual product appearance.
59
ą RS-485 Connector Units: mm[inch]
ASD-CNIE0B06
15.8 55.0
28.3
26 .0
2 1
20.35
17.6
4
6 5
9. 5
ą CN1 I/O Connector Units: mm[inch]
ASD-IF-SC5020
15.28
25
14.5
PIN11:PULL_HI_PS PIN10:DO2+
PIN12:/PULSE PIN9:DO1+
PIN13:PULSE PIN8:DI7-
41.3
52.4
1
PIN14:/SIGN PIN7:DI4-
PIN15:SIGN PIN6:DI3-
PIN16:OCZ PIN5:DI2-
PIN17:GND PIN4:DI1-
PIN18:DO4+ PIN3:COM-
PIN19:DO3+
PIN20:CN_GND
PIN2:COM+
PIN1:VDD
2
ASD-IF-SC5020
1. 22.83 2. 22.83
PIN11:PULL_HI_PS PIN10:DO2+
PIN12:/PULSE PIN9:DO1+
PIN13:PULSE PIN8:DI7-
PIN14:/SIGN PIN7:DI4-
45.5 45.5
PIN15:SIGN PIN6:DI3-
PIN16:OCZ PIN5:DI2-
PIN17:GND PIN4:DI1-
PIN18:DO4+ PIN3:COM-
PIN19:DO3+ PIN2:COM+
PIN20:CN_GND PIN1:VDD
7.7 7.7
60
Servo Drive, Servo Motor and Accessories
Combinations
220V Series
100W Servo Drive and 50W Low Inertia Servo Motor 100W Servo Drive and 100W Low Inertia Servo Motor
Servo Drive ASD-A2-0121-
Low Inertia Servo Motor ECMA-C1040F

S Low Inertia Servo Motor ECMA-C 0401
S
Power Cable (Without Brake) ASD-ABPW000X Power Cable (Without Brake) ASD-ABPW000X
Power Connector (Without Brake) ASDBCAPW0000 Power Connector (Without Brake) ASDBCAPW0000
Power Cable (With Brake) ASD-ABPW010X Power Cable (With Brake) ASD-ABPW010X
Power Connectors (With Brake) ASDBCAPW0100 Power Connectors (With Brake) ASDBCAPW0100
Incremental Encoder Cable ASD-ABEN000X Incremental Encoder Cable ASD-ABEN000X
Absolute Encoder Cable ASD-A2EB000X Absolute Encoder Cable ASD-A2EB000X
Encoder Connectors ASD-ABEN0000 Encoder Connectors ASD-ABEN0000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m))
200W Servo Drive and 200W Low Inertia Servo Motor 400W Servo Drive and 400W Low Inertia Servo Motor
Low Inertia Servo Motor ECMA-C 0602

S ECMA-C 0604
S
H
Power Cable (Without Brake) ASD-ABPW000X ECMA-C 0804
7
Power Connector (Without Brake) ASDBCAPW0000 Power Cable (Without Brake) ASD-ABPW000X
Power Cable (With Brake) ASD-ABPW010X Power Connector (Without Brake) ASDBCAPW0000
Power Connector (With Brake) ASDBCAPW0100 Power Cable (With Brake) ASD-ABPW010X
Incremental Encoder Cable ASD-ABEN000X Power Connector (With Brake) ASDBCAPW0100
Absolute Encoder Cable ASD-A2EB000X Incremental Encoder Cable ASD-ABEN000X
Encoder Connector ASD-ABEN0000 Absolute Encoder Cable ASD-A2EB000X
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
Encoder Connector ASD-ABEN0000
400W Servo Drive and 500W Medium Servo Motor 400W Servo Drive and 300W High Inertia Servo Motor
Medium Servo Motor ECMA-E 1305

S High Inertia Servo Motor ECMA-G 1303
S
Power Cable (Without Brake) ASD-CAPW100X Power Cable (Without Brake) ASD-CAPW100X
Power Cable (With Brake) ASD-CAPW110X Power Cable (With Brake) ASD-CAPW110X
Power Connector ASD-CAPW1000 Power Connector ASD-CAPW1000
Incremental Encoder Cable ASD-CAEN100X Incremental Encoder Cable ASD-CAEN100X
Encoder Connector ASD-CAEN1000 Encoder Connector ASD-CAEN1000

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
61
750W Servo Drive and 750W Low Inertia Servo Motor 750W Servo Drive and 500W High Inertia Servo Motor
ECMA-C 0807
S High Inertia Servo Motor ECMA-F 1305
S
H
ECMA-C 0907
S Power Cable (Without Brake) ASD-CAPW100X
Power Cable (With Brake) ASD-CAPW110X

Power Cable (Without Brake) ASD-ABPW000X
Power Connector (With Brake) ASD-CAPW1000
Power Connector (Without Brake) ASDBCAPW0000
Incremental Encoder Cable ASD-CAEN100X
Power Cable (With Brake) ASD-ABPW010X
Absolute Encoder Cable ASD-A2EB100X
Power Connector (With Brake) ASDBCAPW0100
Encoder Connector ASD-CAEN1000
Incremental Encoder Cable ASD-ABEN000X
(X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)

(X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)
750W Servo Drive and 600W High Inertia Servo Motor 1kW Servo Drive and 1kW Low Inertia Servo Motor
High Inertia Servo Motor ECMA-G 1306

S
Power Connector ASD-CAPW1000 Power Connector (With Brake) ASD-CAPW1000

(X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m) (X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)
1kW Servo Drive and 1kW Low Inertia Servo Motor 1kW Servo Drive and 1kW Medium Servo Motor

S Medium Servo Motor ECMA-E 1310
S
Power Cable (Without Brake) ASD-ABPW000X Power Cable (Without Brake) ASD-CAPW100X
Power Cables (With Brake) ASD-ABPW010X Power Cable (With Brake) ASD-CAPW110X
Power Connector (Without Brake) ASDBCAPW0000 Power Connector ASD-CAPW1000
Power Connector (With Brake) ASDBCAPW0100 Incremental Encoder Cable ASD-CAEN100X
Incremental Encoder Cable ASD-ABEN000X Absolute Encoder Cable ASD-A2EB100X
Absolute Encoder Cable ASD-A2EB000X Encoder Connector ASD-CAEN1000

(X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)
(X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)
62
Combinations
220V Series
1kW Servo Drive and 850W High Inertia Servo Motor 1kW Servo Drive and 900W High Inertia Servo Motor
High Inertia Servo Motor ECMA-F 1308

S High Inertia Servo Motor ECMA-G 1309
S

X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 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 Servo Motor 2kW Servo Drive and 2kW Low Inertia Servo Motor

S
Power Cable (Without Brake) ASD-CAPW100X Power Cables (Without Brake) ASD-A2PW100X
Power Cable (With Brake) ASD-CAPW110X Power Cables (With Brake) ASD-A2PW110X

X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
2kW Servo Drive and 2kW Medium Servo Motor 2kW Servo Drive and 2kW Medium Servo Motor

S Medium Servo Motor ECMA-E 1820
S
Power Cable (Without Brake) ASD-A2PW100X Power Cable (Without Brake) ASD-CAPW200X
Power Cable (With Brake) ASD-A2PW110X Power Cable (With Brake) ASD-CAPW210X

X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
63
2kW Servo Drive and 1.3kW Medium-High Inertia Servo 2kW Servo Drive and
Motor 1.8kW Medium-High Inertia Servo Motor
Medium-High Inertia Servo Motor ECMA-F 1313

S Medium-High Inertia Servo Motor ECMA-F 1318
S
Power Cable (Without Brake) ASD-A2PW100X Power Cable (Without Brake) ASD-A2PW100X
Power Cable (With Brake) ASD-A2PW110X Power Cable (With Brake) ASD-A2PW110X

3kW Servo Drive and 3kW Low Inertia Servo Motor 3kW Servo Drive and 3kW Medium Servo Motor

4 Medium Servo Motor ECMA-E 1830
S
Power Cable (Without Brake) ASD-A2PW100X Power Cable (Without Brake) ASD-CAPW200X
Power Cable (With Brake) ASD-A2PW110X Power Cable (With Brake) ASD-CAPW210X

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) (X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
3kW Servo Drive and 3kW Servo Drive and

3.5kW Medium-High Inertia Servo Motor 3kW Medium-High Inertia Servo Motor
Medium-High Inertia Servo Motor ECMA-E 1835

S

((X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) (X=3 䂡敞⺍ 3m; X=5 䂡敞⺍ 5m)(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
64
Combinations
220V Series
4.5kW Servo Drive and 5.5kW Servo Drive and
4.5kW Medium-High Inertia Servo Motor 5.5kW Medium-High Inertia Servo Motor

3
Power Cable (Without Brake) ASD-CAPW320X Power Cable (Without Brake) -
Power Cable (With Brake) ASD-CAPW330X Power Cable (With Brake) -
Incremental Encoder Cable ASD-CAEN100X Brake Cable ASD-CNBR1000
Absolute Encoder Cable ASD-A2EB100X Incremental Encoder Cable ASD-CAEN100X
Encoder Connector ASD-CAEN1000 Absolute Encoder Cable ASD-A2EB100X

7.5kW Servo Drive and 111kW Servo Drive and

7.5kW Medium-High Inertia Servo Motor 11kW Medium-High Inertia Servo Motor
Servo Drive ASD-A2-1B23-

3 Medium-High Inertia Servo Motor ECMA-F1221B
3
Power Cable (Without Brake) - Power Cable (Without Brake) -
Power Cable (With Brake) - Power Cable (With Brake) -
Brake Cable ASD-CNBR1000 Brake Cable ASD-CNBR1000

15kW Servo Drive and

15kW Medium-High Inertia Servo Motor
Servo Drive ASD-A2-1F23-
Medium-High Inertia Servo Motor ECMA-F1221F

S
Power Cable (Without Brake) -
Power Cable (With Brake) -
Power Connector ASD-CAPW4000
Brake Cable ASD-CNBR1000
Incremental Encoder Cable ASD-CAEN100X

65
400V Series
750W Servo Drive and 750W Servo Drive and
400W Low Inertia Servo Motor 750W Low Inertia Servo Motor
Low Inertia Servo Motor ECMA-J 0604

S Low Inertia Servo Motor ECMA-J 0807
S
Power Connector (Without Brake) ASD-CAPW5400 Power Connector (Without Brake) ASD-CAPW5400
Power Connector (With Brake) ASD-CAPW5100 Power Connector (With Brake) ASD-CAPW5100
Incremental Encoder Cable ASD-ABEN000X Incremental Encoder Cable ASD-ABEN000X
Encoder Connector ASD-ABEN0000 Encoder Connector ASD-ABEN0000

750W Servo Drive and 750W Servo Drive and

750W Low Inertia Servo Motor 500W Medium Servo Motor

S Medium Servo Motor ECMA-K 1305
S
Power Connector (Without Brake) ASD-CAPW5400 Power Cable (With Brake) ASD-CAPW110X
Power Cable (With Brake) ASD-CAPW510X Power Connector ASD-CAPW1000
Power Connectors (With Brake) ASD-CAPW5100 Incremental Encoder Cable ASD-CAEN100X

750W Servo Drive and 1kW Servo Drive and

500W Medium-High Inertia Servo Motor 850W High Inertia Servo Motor
Medium-High Inertia Servo Motor ECMA-L 1305

S High Inertia Servo Motor ECMA-L 1308
S

(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) ((X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
66
Combinations
400V Series
1kW Servo Drive and 1.5kW Servo Drive and
1kW Low Inertia Servo Motor 900W High Inertia Servo Motor

S High Inertia Servo Motor ECMA-M 1309
S
Power Connector (Without Brake) ASD-CAPW5400 Power Cable (With Brake) ASD-CAPW110X
Power Connector (With Brake) ASD-CAPW5100 Incremental Encoder Cable ASD-CAEN100X

1.5kW Servo Drive and

1kW Servo Drive and 1kW Medium Servo Motor 1kW Low Inertia Servo Motor
Medium Servo Motor ECMA-K 1310

S

1.5kW Servo Drive and 1.5kW Servo Drive and

1.3kW Medium-High Inertia Servo Motor 1.5kW Medium Servo Motor

S

67
2kW Servo Drive and
2kW Servo Drive and 2kW Low Inertia Servo Motor 2kW Medium-High Inertia Servo Motor

S

3kW Servo Drive and

2kW Servo Drive and 2kW Medium Servo Motor 3kW Low Inertia Servo Motor
Servo Drive ASD-A2-2043- Servo Drive ASD-A2-3043-
Medium Servo Motor ECMA-K 1820

4

3kW Servo Drive and 4.5kW Servo Drive and

3kW Medium-High Inertia Servo Motor 4.5kW Medium-High Inertia Servo Motor

S Medium-High Inertia Servo Motor ECMA-L 1845
S

68
Combinations
400V Series 5.5kW Servo Drive and
5.5kW Medium-High Inertia Servo Motor
7.5kW Servo Drive and
7.5kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-5543-

Medium-High Inertia Servo Motor ECMA-L11855
3
Medium-High Inertia Servo Motor ECMA-L11875

3 Power Cable (Without Brake) ASD-CAPW220X
Power Cable (Without Brake) ASD-CAPW320X Power Cable (With Brake) ASD-CAPW230X
Power Connector ASD-CAPW2000 Incremental Encoder Cable ASD-CAEN100X
Incremental Encoder Cable ASD-CAEN100X Absolute Encoder Cable ASD-A2EB100X

11kW and 15kW models will be available soon

For the available models and related optional accessories,
Other Accessories
濑for ASDA-A2 series all models濒
Description Delta Part Number
50-Pin I/O 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
RS-485 Connector ASD-CNIE0B06
Regenerative Resistor 400W 40ȍ BR400W040
Regenerative Resistor 1kW 20ȍ BR1K0W020
Regenerative Resistor 1.5kW 5ȍ BR1K5W005
Safety Information
$6'$$VHULHVLVGHVLJQHGWRIXOO\FRPSO\ZLWKGHPDQGLQJLQWHUQDWLRQDOVWDQGDUGVVXFKDV,(&(1DQGRWKHUVIRUDOO¿HOGVRI
Global Standards industrial automation technology.
EN61000-4-6 Level 3
EN61000-4-3 Level 3
EN61000-4-2 Level 2 and Level 3
EMC standard
EN61000-4-4 Level 3
EN61000-4-8 Level 4
EN61000-4-5 Level 3
Conducted &
&RPSOLHVZLWK(1&ODVV$*URXSZLWKH[WHUQDO(0&¿OWHU
Radiated Emissions
CE Marking CE recognized. Complies with Directive 2006/95/EC of the European Parliament and EMC Directive 2004/108/EC.
UL Approval UL (U.S.), cUL (Canada) recognized.
IEC/EN50178, IEC/EN60529
Test Standard IP20
Vibration 1G less than 20Hz, 0.6G 20 to 50Hz. Complies with IEC/EN50178
Shock 15gn 11ms. Complies with IEC/EN600028-2-27
Pollution Degree Degree 2. Complies with IEC/EN61800-5-1
69
5HJHQHUDWLYH5HVLVWRU6SHFL¿FDWLRQV
220V Series
6SHFLÀFDWLRQVRI%XLOWLQ5HJHQHUDWLYH5HVLVWRUV
Min. Allowable
Servo Drive (kW) Resistance Capacity Resistance
SDUDPHWHU3 SDUDPHWHU3 (Ohm)
(Ohm) (Watt)
0.1 - - 30ʈ
0.2 - - 30ʈ
0.4 40ʈ 40ʈ 30ʈ
0.75 40ʈ 60ʈ 20ʈ
1.0 40ʈ 60ʈ 20ʈ
1.5 40ʈ 60ʈ 20ʈ
2.0 20ʈ 100ʈ 10ʈ
3.0 20ʈ 100ʈ 10ʈ
4.5 20ʈ 100ʈ 10ʈ
5.5 - - 8ʈ
7.5 - - 5ʈ
11 - - 8ʈ
15 - - 5ʈ
Footnote:
• 400W ~ 4.5kW servo drives provide a built-in regenerative resistor.
• :KHQWKHIDXOW$/(5HJHQHUDWLRQ(UURURFFXUVSOHDVHLQFUHDVHWKHUHJHQHUDWLYHUHVLVWRUFDSDFLW\RUGHFUHDVHWKHUHJHQHUDWLYHUHVLVWRUUHVLVWDQFHWKHUHJHQHUDWLYHUHVLVWRU
UHVLVWDQFHVKRXOGQRWEHOHVVWKDQWKHPLQLPXPDOORZDEOHUHVLVWDQFHOLVWHGLQWKHDERYHWDEOH
• 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
UHVLVWRUVVKRXOGQRWEHOHVVWKDQWKHPLQLPXPDOORZDEOHUHVLVWDQFHOLVWHGLQWKHDERYHWDEOH
400V Series
6SHFLÀFDWLRQVRI%XLOWLQ5HJHQHUDWLYH5HVLVWRUV
Min. Allowable
Servo Drive (kW) Resistance Capacity Resistance
SDUDPHWHU3 SDUDPHWHU3 (Ohm)
(Ohm) (Watt)
0.4 80ʈ 100W 60ʈ
0.75 80ʈ 100W 60ʈ
1.0 80ʈ 100W 60ʈ
1.5 80ʈ 100W 40ʈ
2.0 - - 40ʈ
3.0 - - 30ʈ
4.5 - - 20ʈ
5.5 - - 20ʈ
7.5 - - 15ʈ
Footnote:
• 750W ~ 1.5kW servo drives provide a built-in regenerative resistor.
• :KHQWKHIDXOW$/(5HJHQHUDWLRQ(UURURFFXUVSOHDVHLQFUHDVHWKHUHJHQHUDWLYHUHVLVWRUFDSDFLW\RUGHFUHDVHWKHUHJHQHUDWLYHUHVLVWRUUHVLVWDQFHWKHUHJHQHUDWLYHUHVLVWRU
UHVLVWDQFHVKRXOGQRWEHOHVVWKDQWKHPLQLPXPDOORZDEOHUHVLVWDQFHOLVWHGLQWKHDERYHWDEOH
• 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
UHVLVWRUVVKRXOGQRWEHOHVVWKDQWKHPLQLPXPDOORZDEOHUHVLVWDQFHOLVWHGLQWKHDERYHWDEOH
70

Ecma-E21315rs Cat PDF

Uploaded by

Copyright:

Available Formats

Ecma-E21315rs Cat PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ecma-E21315rs Cat PDF

Uploaded by

Copyright:

Available Formats

$XWRPDWLRQIRUD&KDQJLQJ:RUOG

Delta AC Servo Drive & Motor

3 ASDA-A2 Series Features

20-bit, incremental encoder /

    

Without Suppression With Suppression

Notch Filter Starts

mechanical resonance -10

Before Suppression After Suppression

Electronic CAM (E-CAM) Function

P_Command 1 P_Command 2 P_Command 1 P_Command 2

 Insertion Command

Insertion changes the command executed at the

Capture - Position Latch Function

Ź Maximum 800 records

When DI7 is triggered, the latched position is

Ź Detects the location on the

ASDA-A2-F ASDA-A2-E ASDA-A2-M

Integrated Gantry Control

Sent From Host Controller

100 ECMA-C 0401 S

200 ECMA-C 0602 S

400 ECMA-C 0604 S

400 ECMA-C 0804 7

750 ECMA-C 0907 S

1000 ECMA-C 0910 S

1000 ECMA-C 1010 S

2000 ECMA-C 1020 S

3000 ECMA-C 1330 4

500 ECMA-E 1305 S

1000 ECMA-E 1310 S

1500 ECMA-E 1315 S

2000 ECMA-E 1820 S

3000 ECMA-E 1830 S

3500 ECMA-E 1835 S

500 ECMA-F 1305 S

850 ECMA-F 1308 S

1300 ECMA-F 1313 S

1800 ECMA-F 1318 S

3000 ECMA-F 1830 S

5500 ECMA-F 1855 3

7500 ECMA-F 1875 3

400 ECMA-C 0604 H

750 ECMA-C 0807 H

600 ECMA-G 1306 S

900 ECMA-G 1309 S

NOTE 2) The boxes (

1.55 4.65 ASD-A2-0221- 1.55 4.65

12.05 36.15 ASD-A2-2023- 13.40 40.20

17.2 47.5 ASD-A2-3023- 19.40 58.20

2.90 8.70 ASD-A2-0421- 2.60 7.80

5.60 16.80 ASD-A2-1021- 7.30 21.90

8.30 24.90 ASD-A2-1521- 8.30 24.90

3.90 12.10 ASD-A2-0721- 5.10 15.30

7.10 19.40 ASD-A2-1021- 7.30 21.90

19.40 58.20 ASD-A2-3023- 19.40 58.20

32.50 81.30 ASD-A2-4523- 32.50 70.7

40.00 100.00 ASD-A2-5523- 40.00 106

47.50 1 18.80 ASD-A2-7523- 47.50 141.1

Insertion Command

1) The boxes ( DWWKHHQGVRIWKHVHUYRGULYHPRGHOQDPHVDUHIRURSWLRQDOFRQ¿JXUDWLRQV)RUWKHDFWXDOPRGHOQDPHSOHDVHUHIHUWRWKHPRGHOH[SODQDWLRQRIW