Catalog servo delta ASDA a3

Automation for a Changing World Delta AC Servo Drive & Motor ASDA-A3 Series w w w d e l t a w w c o m Delta High-end Servo System ASDA-A3 More Responsive, Better Accuracy and Remarkable Robust Control Table of Contents Cutting-edge Specification 3.1 kHz bandwidth 24-bit absolute type encoder High speed motor with 6,000 r/min and 350 % peak torque Motor with high or low inertia rotor Low cogging torque motors Supports a variety of motors Full-closed loop control function System Tuning and Safety Functions System diagnosis function Low frequency vibration suppression function Auto-tuning function Advanced notch filters Safe Torque Off (STO) function Motion Inside Advanced motion commands Built-in camming functions Capture and compare functions Energy-Saving and Compact Size Design DC-bus sharing feature Thinner size servo drives Smaller size servo motors Smart and Intuitive Software Interface Tree-view index window Graphical interface for parameter settings Auto-tuning wizard for gains Advanced gain tuning interface System analysis in Bode Plot Oscilloscope function Graphical programming interface of PR mod Product Information 11 Part Names and Functions Optional Accessories ASDA-Soft Configuration Software Servo Motor Features Ordering Information 18 Product Line Up Servo Drive Model Name Explanation Servo Drive Specifications Servo Drive Dimensions ECM-A3 Servo Motors Model Name Explanation ECM-A3 Servo Motors Specifications ECM-A3 Servo Motors Dimensions ECMC Servo Motors Model Name Explanation ECMC Servo Motors Specifications ECMC Servo Motors Dimensions Servo Drive Accessories Combinations Optional Cables and Connectors Wiring 43 Cutting-edge Specifications 3.1 kHz Bandwidth ►► Higher responsiveness and shorter settling time could increase productivity Gain (dB) 3.1 kHz 1 kHz A2 Speed closed-loop control -3 -5 -10 A3 100 101 103 Frequency (Hz) 24-bit Absolute Type Encoder 3.1 kHz 16,777,216 pulses for one single turn ►► The positioning precision is enhanced by the 16,777,216 pulses/turn encoder ►► The 102 speed variance in low speed is reduced 46,603 pulses for one degree ►► Absolute type encoder keeps motor's position when power is off High speed motor with 6,000 r/min and 350 % peak torque ►► A3 motor can accelerate and decelerate faster with its design specification is available for motor frame size 40 mm, 60 mm and 80mm ►► This Torque(x 100%) speed(r/min) 7000 A3 6000 r/min 6000 A3-400W 3.5 A2-400W 5000 A3 A2 2.5 4000 3000 1.5 2000 1000 0.5 Time(sec) 0 0.05 0.1 0.15 Intermittent Duty Zone Continuous Duty Zone 2000 4000 6000 speed(r/min) Motor with high or low inertia rotor ►► For application requiring stable rotating speed and better disturbance resistant capability, a high inertia motor is more suitable, such as machine tools ►► For application like reciprocating motion and fast positioning request, a low inertia motor can be used, such as electronic manufacturing machines Low inertia motor High inertia motor Low Cogging Torque Motor ►► Cogging torque of the ECM-A3 motor is only 1.5% of the rated torque, which brings smoother operating speed and increases the stability when machining at low speed Cogging Torque (under 1.5%) A3 A2 Supports a Variety of Servo Motors Full-Closed Loop Control ►► Backward ►► To ensure the positioning accuracy at the end and eliminate the effect of transmission backlash, full-closed loop control function is an effective solution compatibility design for motor to meet future replacement ►► ASDA-A3 drive can support both A2 (ECMA) and A3 (ECM-A3) series motors Motor Encoder Signals A2 Servo Motors Linear Scale A3 Servo Motors System Tuning and Safety Functions System Diagnosis Function ►► The rigidity of a machine is known through a mathematical model ►► The consistency of the machine's batch installation can be checked ►► By comparing the data from different time span, the wear condition of a machine can be acquired Low Frequency Vibration Suppression Function ►► Vibration elimination algorithm is different from command filter and used as a creative algorithm on ASDA-A3 ►► The vibration can be eliminated without slowing down its response ►► In addition to vibration elimination algorithm, the two command filters for low frequency vibration are included Without Vibration Suppression Delta Vibration Suppression Stable Unstable Auto-Tuning Function ►► Lower ►► This function will optimize the machine performance with less tuning effort ►► It can be done via panel keypad or software Pulse of User Unit (PUU) the barrier for users to use servo systems Motor Load (inertia ratio=68) 2500 Position Command Before Auto-Tuning 2000 After Auto-Tuning 1500 1000 500 -500 0.05 0.1 0.15 0.2 0.25 0.3  Time (sec) 0.35 0.4 0.45 0.5 Advanced Notch Filter Test Machine Layout ►► There are sets of notch filters with tunable bandwidth and up to 5000 Hz band for ASDA-A3 ►► Those filters can search resonance and set the attenuation level automatically ►► With shorter search time for resonance, the machine is less likely to be damaged Speed (r/min) Less than 0.5 sec Time (ms) Safe Torque Off (STO) Function *note : to be certified ►► Built-in ►► The STO (Safe Torque Off) function motor power will be cut-off when STO is activated ! Motor Speed ! Trigger STO Time Grating Motion Inside Motion Inside ►► 99 sophisticated motion commands and segments allowed ►► Arithmetic are added operation and condition jump commands ►► Graphical user interface offers simple setup and programming ►► General motion functions like homing, position and speed commands are available ►► Superimposition, blending and on-the-fly change motion commands are provided Built-in Camming Functions ►► E-CAM functions for flying shear and rotary cut are well configured ►► There are maximum 720 points in one cam profile or contour with interpolation smooth algorithm ►► Useful E-CAM phase secure and adjustment functions are easy to apply ►► Many successful applications from ASDA-A2 are available for reference Capture and Compare Functions ►► Only 5 µs response time to latch the position or pulse count after receiving the activated DI single ►► The high-speed DO will response when assigned position or count value is reached after 5 µs response time DI7 Position 383838 Position== 383838 383838 383838 True DO4 When DI7 is triggered, the latched position is recorded in Data Array When the data recorded in Data Array is identical to the detected position, DO4 will be on Energy-Saving and Compact Size Design DC-bus Sharing Feature Without Sharing DC Bus With Sharing DC Bus ►► The regenerative energy will be collected to DC-bus for other axes to increase energy efficiency ►► Smaller resistor installed is possible for the system, which can save cost and installation space Regenerative energy Regenerative energy Generator effect Generator effect A3 A2 200 W 200 W Thinner Size Servo Drive ►► ASDA-A3 is 20% smaller than A2 on dimensions, which requires less installation space 20% Shorter in length Smaller Size Servo Motor ►► ASDA-A3 series servo motor is 20% shorter than A2's A2 A3 20% User-Friendly Software Tree-View Index Window Graphical Interface for Parameter Settings ►► Well organized list and collapsible menu help to access functions easily ►► Intuitive user interface provides set up functions and parameters without manual findings Auto-Tuning Wizard for Gains ►► Provides step by step guiding wizard for users to tune a servo Advanced Gain Tuning Interface ►► The servo gains can be easily fine-tuned for better performance with its well-designed tuning modes Ordering Information Optional Cables and Connectors ●● Power Cables ACS3-CAPW1203, ACS3-CAPW1205 (5 mm ) (1 97 inch ) (8 mm ) L (3.1 inch ) Cable Standard L Part No Straight ACS3-CAPW1203 3106A-20-18S 3000 ± 100 118 ± ACS3-CAPW1205 3106A-20-18S 5000 ± 100 197 ± Part No Straight ACS3-CAPW2203 3106A-20-18S 3000 ± 100 118 ± ACS3-CAPW2205 3106A-20-18S 5000 ± 100 197 ± Part No Straight ACS3-CAPW1303 3106A-20-18S 3000 ± 100 118 ± ACS3-CAPW1305 3106A-20-18S 5000 ± 100 197 ± Part No Straight ACS3-CAPW2303 3106A-20-18S 3000 ± 100 118 ± ACS3-CAPW2305 3106A-20-18S 5000 ± 100 197 ± mm inch ACS3-CAPW2203, ACS3-CAPW2205 (with brake cable) (5 mm ) (1.9 inch ) (8 mm ) L (3.1 inch ) Cable Standard ACS3-CAPW1303, ACS3-CAPW1305 mm L inch (8 mm ) (3.1 inch ) L (8 mm ) (3.1 inch ) Cable Standard mm L inch ACS3-CAPW2303, ACS3-CAPW2305 (with brake cable) Cable Standard 37 mm L inch ●● Power Cables ACS3-CAPW1403, ACS3-CAPW1405 (8 mm ) (3 inch ) L (100 mm) (3 inch ) Cable Standard L Part No Straight ACS3-CAPW1403 3106A-24-11S 3000 ± 100 118 ± ACS3-CAPW1405 3106A-24-11S 5000 ± 100 197 ± Part No Straight ACS3-CAPW2403 3106A-24-11S 3000 ± 100 118 ± ACS3-CAPW2405 3106A-24-11S 5000 ± 100 197 ± mm inch ACS3-CAPW2403, ACS3-CAPW2405 (with brake cable) (8 mm) (3.1 inch) L (100 mm) (3.9 inch) Cable ●● Standard Encoder Connectors ACS3-CNEN1100 mm L inch ACS3-CNENC200 ACS3-CNEN3100 ●● Incremental Encoder Cables ACS3-CAEF1003、ACS3-CAEF1005、ACS3-CAEF1010、ACS3-CAEF1020 Cable L Flexible 38 Part No mm L inch ACS3-CAEF1003 3000 ± 50 118 ± ACS3-CAEF1005 5000 ± 50 197 ± ACS3-CAEF1010 10000 ± 100 394 ± ACS3-CAEF1020 20000 ± 100 788 ± Ordering Information Optional Cables and Connectors ●● Incremental Encoder Cables ACS3-CAEF3003、 ACS3-CAEF3005、ACS3-CAEF3010、ACS3-CAEF3020 Cable Flexible ●● Absolute Encoder Cables Part No Straight ACS3-CAEF3003 3106A-20-29S L mm inch 3000 ± 50 118 ± ACS3-CAEF3005 3106A-20-29S 5000 ± 50 197 ± ACS3-CAEF3010 3106A-20-29S 10000 ± 100 394 ± ACS3-CAEF3020 3106A-20-29S 20000 ± 100 788 ± ACS3-CAEB1003、ACS3-CAEB1005、ACS3-CAEB1010、ACS3-CAEB1020 Cable Flexible Part No L mm inch ACS3-CAEB1003 3000 ± 50 118 ± ACS3-CAEB1005 5000 ± 50 197 ± ACS3-CAEB1010 10000 ± 100 394 ± ACS3-CAEB1020 20000 ± 100 788 ± ACS3-CAEB3003、ACS3-CAEB3005、ACS3-CAEB3010、ACS3-CAEB3020 Cable Flexible ●● Battery Boxes with batteries Part No L mm inch ACS3-CAEB3003 3000 ± 50 118 ± ACS3-CAEB3005 5000 ± 50 197 ± ACS3-CAEB3010 10000 ± 100 394 ± ACS3-CAEB3020 20000 ± 100 788 ± Units: mm Single Battery Box ASD-MDBT0100 5±1 15±5 TINING OF THE END OF THE CONDUCTORS 200±10 (RED ) (BLACK) 68 DETAIL A SCALE 2.000 15 ±5 35 SEE DETAIL A 15 ±5 22 200±10 SEE DETAIL B SEE DETAIL A R (BLACK) (RED ) 25 (RED ) (BLACK) DETAIL B SCALE 2.000 Please contact Delta Global Service team if ordering battery box cord only 39 DETAIL A SCALE 2.000 ●● Battery Boxes with batteries Units: mm Dual Battery Box ASD-MDBT0200 5±1 15 ±5 TINING OF THE END OF THE CONDUCTORS 72 200±10 (RED ) (BLACK) DETAIL A SCALE 2.000 15 ±5 45 SEE DETAIL A 15 ±5 26 64 200±10 SEE DETAIL B SEE DETAIL A R2 (BLACK) (RED ) DETAIL A SCALE 2.000 DETAIL B SCALE 2.000 5±1 Please contact Delta Global Service team if ordering battery box cord only (RED ) (BLACK) 15 ±5 TINING OF THE END OF THE CONDUCTORS 200±10 (RED ) (BLACK) ●● SEE DETAIL A DETAIL A SCALE 2.000 Terminal Block Module 86.8 ACS3-MDTB5000 146.4 50.7 500 ●● CANopen Communication Cable UC-CMC030-01A, UC-CMC050-01A + L- 40 L Item Part No UC-CMC030-01A 3000 ± 10 11 ± 0.4 UC-CMC050-01A 5000 ± 10 19 ± 0.4 mm inch Ordering Information Optional Cables and Connectors I/O Signal Connector (CN1) ●● Ferrite Rings ASD-ACFC7K00 ØI D ACS3-CNADC150 ØO D ●● HT CANopen Distribution Box Units: mm [inch] ●● A3 CN3 RS-485 Tap ACS3-CNADC3RC TAP-CN03 73 87 34.95(1.37) 66.5 29.20(1.15) ●● 25.8(1.01) 15.10 (0.59) 11.68 (0.46) 42 43.04(1.69) Unit: mm (inch) ●● A3 / A2 Adapter Cable A3/A2 CN1 Adapter Cable ACS3-CAADC1 500 ± 20 mm A3 A2 A3/A2 CN2 Adapter Cable ACS3-CAADC2 A3 300 ± 50 mm A2 A3/A2 CN5 Adapter Cable ACS3-CAADC5 A3 150 ± mm 41 A2 Unit: mm (inch) ●● A3 CN3 RS-485 / CANOpen Termination Resistor ●● A3 CN6 DMCNET Termination Resistor ASD-TR-DM0008 13 (0.52) ACS3-CNADC3TR 16 (0.64) 43.7(1.74) Unit: mm (inch) ●● CN4 Mini USB Module + 0.5 64.5 + 0.02) (2.54 - + 0.5 12 + 0.02) (0.47 - + 0.02) (0.79 - +5 85 + 0.2) (3.3 - + 0.5 20 - UC-PRG015-01B, UC-PRG030-01B Unit: mm (inch) 6.8 (0.27) L 12 (0.48) INI USB B MALE +5 85 + 0.2) (3.3 - + 0.5 64.5 + 0.02) (2.54 - + 0.5 20 - UC-ADP01-A Part No mm L inch UC-PRG015-01B 1500 ± 100 59 ± UC-PRG030-01B 3000 ± 100 118 ± + 0.5 12 + 0.02) (0.47 - + 0.02) (0.79 - USBAM ALEM Item Unit: mm (inch) UC-PRG015-01A/ UC-PRG030-01A 6.8 (0.27) L 12 (0.48) Item USBAM ALEM INI USB B MALE 42 Part No mm L inch UC-PRG015-01A 1500 ± 100 59 ± UC-PRG030-01A 3000 ± 100 118 ± Wiring Position (PT) Control Mode (for pulse command input) MCCB MC AC 200 / 230 V Three-phase＊6 50/60 Hz Servo Drive ASDA-A3 Series R S T P3 D C U V W L1C L2C P1 P2 Pulse input (Line Driver)＊1 ±10V Twisted-pair or twisted-shielded cable 10KΩ 10KΩ 10KΩ SON CCLR TCM0 TCM1 ARST NL PL EMGS 24V SRDY 1.5KΩ ZSPD 1.5KΩ HOME 1.5KΩ TPOS 1.5KΩ ALRM 1.5KΩ 1.5KΩ A phase pulse B phase pulse Encoder pulse output Z phase pulse Z phase open collector /SIGN SIGN /PULSE PULSE T-REF GND MON1 GND MON2 COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6- CN1 37 36 41 43 18 19 16 13 15 11 10 34 33 32 31 30 29 38 26 28 27 46 40 OA /OA OB /OB OZ /OZ 21 22 25 23 50 24 OCZ GND 48 44 STO (to be certified) STO_A /STO_A STO_B /STO_B FDBK+ FDBK- ＊3 Regenerative resistor Red Power supply White Black 24V BRKR EMGS ＊4 Green Encoder CN2 +5V GND T+ TCase Shielding 1.2KΩ 12 KΩ 4.7KΩ CN3*7 6,8 3,7 ＊2 4.7KΩ 4.7 KΩ 4.7 KΩ 14,16 13 12 11,15 10 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ CN4 Brake SG Twisted-pair or twistedshielded cable - RS485+ RS485GND_ISO Data input CAN_L CAN_H - RS485+ RS485GND_ISO Data output CAN_L CAN_H Mini USB ＊5 CN5 +5 V Opt A Opt /A Opt B Opt /B Opt Z Opt /Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ TEMP14 15 Max output current 50mA voltage 30V CN10 Please note: *1, *2: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *3: 200 W and below NOT provide a built-in regenerative resistor *4: The brake oil has no polarity *5: Connect to Mini-USB of PC *6: Single-phase connections are for servo drives 1.5kW and below only *7: Only A3-L is without dual ports 43 Position (PR) Control Mode (for Internal Procedure Control) Position (PR) control mode MCCB MC Three-phase＊5 50/60 Hz Servo Drive ASDA-A3 Series R S T P3 D C U V W L1C L2C P1 P2 ±10V Twisted-pair or twisted-shielded cable 10KΩ 10KΩ 10KΩ SON CTRG POS0 POS1 ARST NL PL EMGS 24V SRDY 1.5KΩ ZSPD 1.5KΩ HOME 1.5KΩ TPOS 1.5KΩ ALRM 1.5KΩ 1.5KΩ A phase pulse B phase pulse Encoder pulse output Z phase pulse Z phase open collector T-REF GND MON1 GND MON2 COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6- 18 19 16 13 15 11 10 34 33 32 31 30 29 38 26 28 27 46 40 OA /OA OB /OB OZ /OZ 21 22 25 23 50 24 OCZ GND 48 44 Red Power supply White Black 24V BRKR EMGS Green ＊ 12 KΩ ＊1 CN3*6 6,8 3,7 4.7KΩ 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 14,16 13 12 11,15 10 4.7 KΩ 4.7 KΩ CN4 Brake Encoder +5V GND T+ TCase Shielding SG Twisted-pair or twistedshielded cable - RS485+ RS485GND_ISO Data input CAN_L CAN_H - RS485+ RS485GND_ISO Data output CAN_L CAN_H Mini USB ＊4 CN5 +5 V Opt A Opt /A Opt B Opt/B Opt Z Opt/Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ TEMP14 15 STO (to be certified) CN10 STO_A /STO_A STO_B /STO_B FDBK+ FDBK- Regenerative resistor CN2 1.2KΩ CN1 ＊2 Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only *6: Only A3-L is without dual ports 44 Wiring Torque (T) Mode Standard Wiring (for Analog Voltage Input and Internal Parameter Setting) Torque control mode MCCB AC 200 / 230 V Three-phase＊6 50/60 Hz MC Servo Drive ASDA-A3 Series R S T P3 D C U V W L1C L2C P1 P2 Pulse input (Line Driver)*1 ±10V Twisted-pair or twisted-shielded cable 10KΩ 10KΩ 10KΩ SON SPDLM TCM0 TCM1 ARST NL PL EMGS 24V SRDY 1.5KΩ ZSPD 1.5KΩ TSPD 1.5KΩ TPOS 1.5KΩ ALRM 1.5KΩ 1.5KΩ A phase pulse B phase pulse Encoder pulse output Z phase pulse Z phase open collector /SIGN SIGN /PULSE PULSE T-REF GND MON1 GND MON2 COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6- CN1 37 36 41 43 18 19 16 13 15 11 10 34 33 32 31 30 29 38 26 28 27 46 40 OA /OA OB /OB OZ /OZ 21 22 25 23 50 24 OCZ GND 48 44 STO (to be certified) STO_A /STO_A STO_B /STO_B FDBK+ FDBK- ＊3 Regenerative resistor Red Power supply White Black 24V Green +5V GND T+ TCase Shielding 12 KΩ CN3*6 6,8 3,7 ＊2 4.7KΩ 4.7KΩ 4.7 KΩ 14,16 13 12 11,15 10 4.7 KΩ 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ Brake Encoder CN2 1.2KΩ BRKR EMGS ＊4 SG Twisted-pair or twistedshielded cable - RS485+ RS485GND_ISO Data input CAN_L CAN_H - RS485+ RS485GND_ISO Data output CAN_L CAN_H 4.7 KΩ CN4 Mini USB ＊5 CN5 +5 V Opt A Opt /A Opt B Opt/B Opt Z Opt/Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ TEMP14 15 Max output current 50mA voltage 30V CN10 Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only *6: Only A3-L is without dual ports 45 Speed (S) Mode (for Analog Voltage Input and Internal Parameter Setting) Servo Drive MCCB AC 200 / 230V Three-phase＊5 50/60 Hz MC ASDA-A3 Series R S T P3 D C U V W L1C L2C P1 P2 ±10V 10KΩ ±10V 10KΩ Twisted-pair or twisted-shielded cable 10KΩ 10KΩ SON TRQLM SPD0 SPD1 ARST NL PL EMGS 24V SRDY 1.5KΩ ZSPD 1.5KΩ TSPD 1.5KΩ TPOS 1.5KΩ ALRM 1.5KΩ 1.5KΩ A phase pulse B phase pulse Encoder pulse output Z phase pulse Z phase open collector V-REF GND T-REF GND MON1 GND MON2 COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6- CN1 42 44 18 19 16 13 15 11 10 34 33 32 31 30 29 38 26 28 27 46 40 OA /OA OB /OB OZ /OZ 21 22 25 23 50 24 OCZ GND 48 44 STO ( to be certified ) STO_A /STO_A STO_B /STO_B FDBK+ FDBK- Regenerative resistor Red Power supply White Black 24V BRKR EMGS ＊3 Green +5V GND T+ TCase Shielding 1.2KΩ 12 KΩ CN3*6 6,8 3,7 ＊1 4.7KΩ 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7KΩ 14,16 13 12 11,15 10 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ CN4 Max output current 50mA voltage 30V CN10 Brake Encoder CN2 1.2KΩ 12 KΩ ＊2 SG Twisted-pair or twistedshielded cable - RS485+ RS485GND_ISO Data input CAN_L CAN_H - RS485+ RS485GND_ISO Data output CAN_L CAN_H Mini USB ＊4 CN5 +5 V Opt A Opt /A Opt B Opt/B Opt Z Opt/Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ TEMP14 15 Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only *6: Only A3-L is without dual ports 46 Wiring Communication mode (CANopen) MCCB AC 200 / 230 V Three-phase＊5 50/60 Hz MC Servo Drive ASDA-A3-M Series R S T P3 D C U V W L1C L2C P1 P2 Reserved Reserved Reserved Reserved ORGP NL PL EMGS SRDY 24V ZSPD 1.5KΩ 1.5KΩ TSPD 1.5KΩ TPOS 1.5KΩ ALRM 1.5KΩ 1.5KΩ A phase pulse B phase pulse Encoder pulse output Z phase pulse Z phase open collector COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6- CN1 11 10 34 33 32 31 30 29 38 26 28 27 46 40 OA /OA OB /OB OZ /OZ 21 22 25 23 50 24 OCZ GND 48 44 STO (to be certified) STO_A /STO_A STO_B /STO_B FDBK+ FDBK- 4.7KΩ ＊2 Regenerative resistor Red Power supply White Black 24V BRKR EMGS Green ＊ CN2 +5V GND T+ TCase Shielding ＊1 4.7KΩ 4.7 KΩ 4.7 KΩ CN3 6,8 RS485+ RS4854 3,7 GND_ISO CAN_L CAN_H 4.7KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 4.7 KΩ 14,16 13 12 11,15 10 CN4 Max output current 50mA voltage 30V CN10 Brake Encoder SG Twisted-pair or twistedshielded cable Data input - RS485+ RS485GND_ISO Data output CAN_L CAN_H Mini USB ＊4 CN5 +5 V Opt A Opt /A Opt B Opt/B Opt Z Opt/Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ TEMP14 15 Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only 47 Communication mode (EtherCAT) MCCB AC200 / 230 V Three-phase*5 50 / 60 Hz MC Servo Drive ASDA-A3-E Series R S T P3 D C U V W L1C L2C P1 P2 Reserved Reserved Reserved ORGP NL PL EMGS SRDY 1.5 KΩ 1.5 KΩ 24V 1.5 KΩ ALRM 1.5 KΩ A phase pulse Encoder pulse output B phase pulse Z phase pulse 10 11 12 13 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4- 25 26 23 24 OA / OA OB / OB OZ / OZ 17 18 19 20 21 22 Regenerative resistor Red Power supply White Black Green 24V EMGS BRKR ＊3 CN2 +5V GND T+ TCase Shielding CN1 COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 ＊2 ＊1 4.7KΩ 4.7KΩ Encoder SG 4.7KΩ CN4 4.7KΩ 4.7KΩ 4.7KΩ CN5 10 11 12 13 14 15 4.7KΩ Mini USB Brake Twisted-pair or twistedshielded cable ＊4 CN5 Opt A Opt / A Opt B Opt / B Opt Z Opt / Z GND GND HALL_U HALL_V HALL_W TEMP+ TEMP- CN6 EtherCAT ＊6 STO ( to be certified ) CN10 STO_ A /STO_ A STO_ B /STO_ B FDBK+ FDBK- CN6A Connect to Master Control or previous drive CN6B Connect to next drive or N/A Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only *6: Please refer to ASDA-A3 manual Chapter 3.9CN10 Wiring Definition 48 Wiring Communication mode (DMCNET) Communication mode (DMCNET) MCCB AC 200 / 230 V Three-phase＊5 50/60 Hz MC Servo Drive ASDA-A3 Series R S T P3 D C U V W L1C L2C P1 P2 Reserved Reserved Reserved ORGP NL PL EMGS SRDY 24 V 1.5 KΩ 1.5 KΩ 1.5 KΩ ALRM 1.5 KΩ A phase pulse Encoder pulse output B phase pulse Z phase pulse COM+ DI1 DI2 DI3 DI4 DI5 DI6 DI7 CN1 10 11 12 13 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4- 25 26 23 24 OA /OA OB /OB OZ /OZ ＊2 Regenerative resistor Red Power supply White Black 24V BRKR EMGS ＊3 Green CN2 +5V GND T+ T6 Case Shielding ＊1 4.7KΩ 4.7KΩ 4.7 KΩ CN4 4.7 KΩ 4.7 KΩ 4.7 KΩ Brake Encoder SG Twisted-pair or twistedshielded cable Mini USB ＊4 CN5 +5 V Opt A Opt/A Opt B Opt/B Opt Z Opt/Z GND GND 10 HALL_U 11 HALL_V 12 HALL_W 13 TEMP+ 14 TEMP15 4.7 KΩ CN6 4,5 7,8 17 18 19 20 21 22 10 11 12,13 14 15,16 DMCNET_1A DMCNET_1B DMCNET_2A - Data input DMCNET_2B - DMCNET_1A DMCNET_1B DMCNET_2A Data output DMCNET_2B Please note: *1: Please refer to ASDA-A3 Series User Manual, Chapter 3.3.3 Cn1 I/O Wiring *2: 200 W and below NOT provide a built-in regenerative resistor *3: The brake oil has no polarity *4: Connect to Mini-USB of PC *5: Single-phase connections are for servo drives 1.5kW and below only 49 50 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 EMEA 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 Sales: Sales.IA.EMEA@deltaww.com Marketing: Marketing.IA.EMEA@deltaww.com Technical Support: iatechnicalsupport@deltaww.com Customer 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+971(0)4 2690148 Egypt + North Africa: Delta Electronics 511 Cairo Business Plaza, 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 DELTA_IA-ASDA_ASDA-A3_C_EN_20191126 ... Explanation ECM-A3 Servo Motors Specifications ECM-A3 Servo Motors Dimensions ECMC Servo Motors Model Name Explanation ECMC Servo Motors Specifications ECMC Servo Motors Dimensions Servo Drive Accessories... 2000 ECMC-E 1830 S 3000 Servo Drive Accessories Combinations 100W Servo Drive and 50W Low / High Inertia Servo Motor Servo Drive 750W Servo Drive and 750W Low / High Inertia Servo Motor ASD-A3-0121ECM-A3L-C... 20 = 20 m) 1 kW Servo Drive and 1kW Medium Inertia Servo Motor and 850W High Inertia Servo Motor 200W Servo Drive and 200W Low / High Inertia Servo Motor ECM-A3L-C ECM-A3H-C Servo Motor Model