XA1E-BV311-R

Automation for a Changing World Delta AC Servo Drive & Motor ASDA-B2 Series w w w. d e l t a w w. c o m High Precision. High Response. Cost Effective. The high-performance, cost-effective ASDA-B2 Series servo motors and drives meet the requirements for general-purpose machine control applications in the industrial automation market and enhance the competitive advantage of servo systems. The power rating of the ASDA-B2 Series ranges from 0.1kW to 3kW. The superior features of this series emphasize built-in motion control functions for general purpose applications and saving the cost of mechatronics integration. Delta's ASDA-B2 makes setting assembly, wiring, and operation convenient. In switching from other brands to Delta's ASDA-B2, the outstanding quality and features, and complete product lineup makes replacement simple and scalable. Customers that choose this value-based product gain noticeable competitive advantages in their market space. All of Delta's ASDA-B2 Series meet UL, cUL, CE, and RoHS standards. Transporting and Conveying Equipment Cutting Machines Electric Discharge Machines (EDM) 1 Table of Contents Sawing Machines 2 3 Product Features 5 Model Name Explanation 6 Product Line-up 7 Part Names and Functions 9 Wiring 12 Selection of Regenerative Resistor 12 Safety Information 13 Servo Drive Specifications 15 Servo Drive Dimensions 19 Servo Motor Specifications 23 Servo Motor Dimensions 23 Speed-Torque Curve (T-N Curves) 27 Optional Accessories Accessories 33 Combinations Product Features Implements High Precision Positioning Control ► ASDA-B2 Series servo drive supports 20-bit and 17-bit encoders. It satisfies the demand for high-precision positioning control and stable operation with lower speed. ► Applying the encoder with a higher resolution can reduce the cogging torque and improve the motor's precision. 17-bit of Torque Ripple 2500ppr of Torque Ripple ► Outstanding below 1ms. ► 10ms performance with higher speed: Up to 550Hz frequency response and settling time is acceleration time from -3000r/min to 3000r/min when running without a load. Example: Frame size 60mm and 400W servo motor. Satisfies a Variety of Industry Requirements ► Three control modes available: Built-in position, Speed, and Torque. (Speed and Torque mode can be controlled by internal parameters or analog voltage.) ► High-speed differential command (up to 4Mpps) for high precision positioning control. ► Three notch filters are provided to suppress the mechanical resonance efficiently and make the system operate more smoothly. ► Lead friction compensation parameter is specified for the application of circular interpolation, Z-axis motion and ball screw, and others to reduce the loading of the controller. ► For bar feeders and other equipment requiring high torque output, motor protection parameters are offered to protect the mechanical system. 3 Offers Easy-To-Install Solution For Simple Start-Up ► ASDA-B Separated power supply for main circuit and control circuit Series share the same power cables and encoder cables for easy installation and setup without extra accessories. ► Servo motor provides brake, oil seal, and other optional configurations for different applications. ► Separated power supply for main circuit and control circuit makes it easier to maintain the mechanism. ► 400W or above servo drives have built-in regenerative resistors, which simplify wiring and reduce the installation cost. ► Individual connectors (2 sets) for analog signal output, also simplifies the wiring. MON1 Supports two analog outputs MON2 Fulfills Easy-To-Use Requirements For Versatile Operation ► User-friendly motor sizing software allows users to select the motor. Charge LED configuration software (tuning software) is provided to meet performance requirements quickly. LED Display ► ASDA-Soft ► Easy-to-use digital keypad is ideal for setting parameters and enables users to directly monitor the servo drive and servo motor. ► Specific software communication cable ASD-CNUS0A08 (Optional) can improve communication quality and convenience of operation. (please refer to optional accessories on page 28) ► On-line monitoring function for 4 channels (similar to a digital oscilloscope) is available. The monitoring data can be 16-bit (4 channels) and 32-bit (2 channels). ► Multi-functional parameter editor enables users to edit, modify, upload / download and print desired parameters in real time. 4 顯示 部 Operation Panel Model Name Explanation ASDA-B2 Series Servo Drives ASD - B2 - 04 21 - B Model Type B: Standard Product Name: AC Servo Drive Input Voltage and Phase: 21: 220 V 1-phase / 3-phase *1 23: 220V 3-phase Rated Output Power 01: 100W 02: 200W 04: 400W 07: 750W Series B2 NOTE 10: 1kW 15: 1.5kW 20: 2kW 30: 3kW 1. Rated power of 100W to 1.5kW are marked number 21 with 220V, single-phase and three-phase connections ECMA Series Servo Motors ECM A - C1 06 02 E S Product Name ECM: Electrical Commutation Motor Driving Type A: AC Servo Motor Series Rated Voltage / Rated Speed C: 220V / 3000rpm E: 220V / 2000rpm F: 220V / 1500rpm G: 220V / 1000rpm Encoder Type 1: 20-bit (Incremental type) 2: 17-bit (Incremental type) M: 13-bit (Magnetic air type) Shaft Type and Oil Seal No Brake No Oil Seal With Brake No Oil Seal No With Brake Brake With With Oil Seal Oil Seal Round Shaft (with fixed screw holes) - - C D Keyway E F - - Keyway (with fixed screw holes) P Q R S Rated Output Power Motor Frame Size 04: 40mm 06: 60mm 08: 80mm 09: 86mm 5 10: 100mm 13: 130mm 18: 180mm 01: 100W 02: 200W 03: 300W 04: 400W 05: 500W 06: 600W 07: 700W 09: 900W 10: 1kW 15: 1.5kW 20: 2kW 30: 3kW Servo Drive Product Line-up 0.1kW 200 W 400 W 750 W 1.0 kW 1.5 kW 2 kW 3 kW Servo Motor ASD-B2-0121- B ASD-B2-0221- B ASD-B2-0421- B ASD-B2-0721-B ASD-B2-1021-B ASD-B2-1521-B ASD-B2-2023-B ASD-B2-3023- B ECMA-C 0401 S ECMA-C 0602 ECMA-C 0604 S ECMA-C 0807 S ECMA-C 0604 H ECMA-C 0807 H S S ECMA-C 0804 7 ECMA-G 1306 ECMA-E 1305 S ECMA-GM1306PS ECMA-G 1303 S ECMA-C 0907 S ECMA-C 1010 S ECMA-E 1310 S ECMA-G 1309 S ECMA-GM1309PS ECMA-C 0910 S ECMA-F 1308 S Note: 1. ( ▄ ) in the model names represent shaft end / brake or the number of oil seals. 2. ( ▲ ) in the model names represent encoder types ( ▲ =1: Incremental encoder, 20-bit; ▲ =2:Incremental encoder, 17-bit). 6 ECMA-C 1020 S ECMA-F 1313 S ECMA-E 1315 S ECMA-E 1320 S ECMA-E 1820 S ECMA-F 1318 S ECMA-E 1830 S ECMA-F 1830 S ECMA-E 1835 S ECMA-C 1330 4 Part Names and Functions LED Display ■ The 5-digit, 7-segment LED displays the servo status or fault codes. Charge LED ■ A lit LED indicates that either power is connected to the servo drive or a residual charge is present in the drive's internal power components. Operation Panel ■ Function keys used to perform status display, monitor and diagnostic, function and parameter setting. Function Keys: MODE: Mode selection SHIFT: For shifting the cursor to the left ▲ : For increasing values ▼ : For decreasing values SET: For storing data Control Circuit Terminal (L1c, L2c) ■ Used to connect 200~230 VAC, 50 / 60Hz single-phase or three-phase VAC supply. Main Circuit Terminal (R, S, T) ■ Used to connect 200~230 VAC, 50 / 60Hz commercial power supply. Servo Motor Output (U, V, W) ■ Used to connect the servo motor. Never connect the output terminal to the main circuit power as the AC servo drive may be damaged beyond repair if incorrect cables are connected to the output terminals. Regenerative Resistor 1. When using an external resistor, connect it to P ⊕ and C, and ensure an open circuit between P ⊕ and D. 2. When using an internal resistor, ensure the circuit is closed between P ⊕ and D, and the circuit is open between P ⊕ and C 3. When using external braking unit, connect braking unit to P ⊕ and , and ensure an open circuit between P ⊕ and D, and P ⊕ and C. Ground Terminal 7 I/O Interface ■ Used to connect Delta's DVP Series PLC or other external controllers for controlling I/O signals. Motor Encoder Interface ■ Used to connect the encoder. Serial Communication Port ■ Used to connect PLC, HMI, and other controllers for RS - 485 / RS - 232 serial communication. Reserved Analog Voltage Output Terminal ■ Used to provide two analog monitor outputs, MON1 and MON2. Heatsink ■ Used to secure servo drive and for heat dissipation. Please note that this only introduces a servo drive's basic functions. Specific models may have different functions. 8 Wiring Position (Pt) Control Mode (for Pulse Command Input) MCCB Pulse input, for the use of internal power supply (Open-collector input) Controller Servo Drive MC AC 200/230V Three-phase 50/60Hz VDD 17 2kΩ 75Ω /SIGN 37 75Ω Approx. 2kΩ 2kΩ 75Ω /PULSE 41 Max. input pulse frequency is 200kpps 75Ω COM- Pulse input (Line driver) 14 10 V 10kΩ SG Pulse input, for the use of external power supply (Open-collector input) High-speed pulse input (Line receiver) *3 Servo Drive Controller PULL_HI 35 + - Approx. 2kΩ DC24V Max. input pulse frequency is 200kpps 18 19 /HSIGN HSIGN /HPULSE HPULSE 40 42 36 38 VDD 17 COM+ 11 6 RS485- COM- 14 5 RS485+ 5kΩ 4 RS232_RX 4 T+ TReserved Reserved 8 +5V 6,7 GND 5 10kΩ DC24V Red & Red/WhiteSG Black & Black/White CN3 5kΩ 3 - TCM0 DI3 34 5kΩ 2 RS232_TX 75Ω DI4 8 5kΩ 1 GND 75Ω TCM1 ARST DI5 33 5kΩ CWL DI6 32 5kΩ CCWL DI7 31 5kΩ 30 5kΩ DI9 12 5kΩ DO1+ 7 DO1- 6 DO2+ 5 DO2- 4 DO3+ 3 DO3- 2 DO4+ 1 DO4- 26 DO5+ 28 DO5- 27 DO6+ 16 DO6- 15 OA /OA OB /OB OZ /OZ 21 22 25 23 13 24 OCZ 44 GND 19 DI8 0 Servo Drive SRDY 1.5kΩ Max. input pulse frequency is 500kpps 51Ω ZSPD 1.5kΩ 51Ω 51Ω Max. input pulse frequency is 500kpps 24V 1.5kΩ 51Ω /PULSE 41 TPOS 1.5kΩ SG Caution: Because this photocoupler is a unidirectional optocoupler, please pay close attention on the current direction of input pulse command. High-speed pulse input (Line receiver) This is a 5V system,do not connect to 24V of power supply. Servo Drive Controller HSIGN 42 100kΩ 2kΩ 2kΩ ALRM 1.5kΩ 0 1.5kΩ A phase pulse B phase pulse Encoder pulse output (PG Dividing Z phase pulse Ratio Output) *3 CN5 1 MON1 2 GND 3 MON2 HPULSE 38 2kΩ 100Ω V SG Wiring of DI signal, for the use of internal power supply B C E Wiring of DI signal, for the use of external power supply, inductive load Servo Drive VDD COM+ Approx. 4.7kΩ COM+ Approx. Approx. 4.7kΩ 4.7kΩ DC24V SON SON COM- PNP transistor with multiple emitter fingers(SOURCE Mode) Wiring of DI signal, for the use of internal power supply Wiring of DI signal, for the use of external power supply Servo Drive Servo Drive DC24V Max. output current 50 mA voltage 30V VDD HPULSE / 36 Caution: Ensure that the ground terminal of the controller and the servo drive are connected to each other. Twisted-pair or twistedshield cable Servo Drive DC24V 2kΩ 19 GND 10k Ω Use a relay or open-collector transistor to input signal SG GND 10k Ω V NPN transistor with multiple emitter fingers (SINK Mode) HSIGN / 40 Z phase open collector Twisted-pair or twistedshield cable - 10 EMGS Brake Encoder Blue Blue/Black DI2 Max. input pulse frequency is 200kpps *2 CN2 10kΩ CCLR This is a 5V system,do not connect to 24V of power supply. 43 T-REF GND BRKR 24V 75Ω Approx. 2kΩ Pulse input (Line driver) PULSE 37 39 41 43 9 SG 37 EMGS Green /SIGN SIGN /PULSE PULSE DI1 /PULSE 41 /SIGN Power Supply White Black SON 2kΩ SIGN 39 Red 2kΩ 75Ω /SIGN 37 Controller Regenerative Resistor ( L 1C L 2C CN1 Max. input pulse Approx. frequency is 200kpps 2kΩ *1 P D C U V W - DC24V PULL_HI 35 Servo Drive R S T SON NOTE: *1. 200W and below drives do not provide built-in regenerative resistor. *2. The brake coil has no polarity. *3. Please refer to SINK / SOURCE modes 4.7kΩ R BE COM+ C COM- WARNING 9 SON DC24V Approx. Approx. 4.7kΩ COM+ Approx. 4.7kΩ Caution: Do not use dual power supply. Failure to observe this caution may damage the servo drive. Speed (S) Control Mode MCCB Servo Drive MC R S T AC 200/230V Three-phase 50/60Hz - L 1C L 2C 10kΩ 10 V 10kΩ V-REF GND 20 19 T-REF GND 18 19 10kΩ 14 9 TRQLM DI2 10 5kΩ SPD0 DI3 34 5kΩ SPD1 DI4 8 5kΩ ARST DI5 33 5kΩ CWL DI6 32 5kΩ CCWL DI7 31 5kΩ EMGS DI8 30 5kΩ 0 DI9 12 5kΩ DO1+ 7 DO1- 6 DO2+ 5 DO2- 4 DO3+ 3 DO3- 2 DO4+ 1 DO4- 26 DO5+ 28 DO5- 27 DO6+ 16 DO6- 15 OA /OA OB /OB OZ /OZ 21 22 25 23 13 24 OCZ 44 GND 19 BRKR 1.5kΩ ALRM 1.5kΩ 0 1.5kΩ A phase pulse B phase pulse Z phase pulse Z phase open collector EMGS 24V BRKR *2 4 T+ TReserved Reserved 8 +5V 6,7 GND Brake Encoder Blue Blue/Black Red & Red/White Black & Black/White SG CN3 DI1 TSPD 1.5kΩ Green 5 10kΩ SON ZSPD 1.5kΩ Encoder pulse output (PG Dividing Ratio Output) 11 COM- Power Supply White Black CN2 10kΩ 5kΩ SRDY 1.5kΩ 24V 17 COM+ Red 10kΩ DC24V VDD Regenerative Resistor ( CN1 10 V *1 P D C U V W *3 6 RS485- 5 RS485+ 4 RS232_RX 3 - 2 RS232_TX 1 GND CN5 1 MON1 2 GND 3 MON2 Max. output current 50 mA voltage 30V NOTE: *1. 200W and below drives do not provide built-in regenerative resistor. *2. The brake coil has no polarity. *3. Please refer to SINK / SOURCE modes 10 V SG V 10kΩ 10kΩ Twisted-pair or twistedshield cable Twisted-pair or twistedshield cable Wiring Torque (T) Control Mode MCCB AC 200/230V Three-phase 50/60Hz MC Servo Drive R S T - L 1C L 2C 10kΩ 10 V 10kΩ 20 19 10kΩ T-REF GND 18 19 10kΩ 11 COM- 14 SON DI1 9 SPDLM DI2 10 TCM0 DI3 34 TCM1 DI4 8 ARST DI5 33 T+ 5 TReserved Reserved 8 +5V GND 6,7 5k Ω 5k Ω 5k Ω 32 31 EMGS DI8 30 5k Ω 0 DI9 12 5k Ω DO1+ 7 DO1- 6 DO2+ 5 DO2- 4 DO3+ 3 DO3- 2 BRKR 1.5k Ω DO4+ 1 DO4- 26 ALRM 1.5k Ω DO5+ 28 DO5- 27 DO6+ 16 DO6- 15 OA /OA OB /OB OZ /OZ 21 22 25 23 13 24 OCZ 44 GND 19 1.5k Ω A phase pulse B phase pulse Encoder pulse output (PG Dividing Z phase pulse Ratio Output) Z phase open collector BRKR *2 Brake Encoder Blue Blue/Black Red & Red/White Black & Black/White SG 6 RS485- 5 RS485+ 4 RS232_RX 3 - 2 RS232_TX 1 GND 5k Ω DI7 0 *3 5k Ω DI6 TSPD 1.5k Ω 24V CN3 CWL ZSPD 1.5k Ω EMGS Green 4 5k Ω CCWL SRDY 1.5k Ω 24V COM+ Power Supply White Black CN2 10kΩ DC24V 17 Red 10kΩ V-REF GND VDD Regenerative Resistor ( CN1 10 V *1 P D C U V W 5k Ω CN5 1 MON1 2 GND 3 MON2 Max. output current 50mA voltage 30V NOTE: *1. 200W and below drives do not provide built-in regenerative resistor. *2. The brake coil has no polarity. *3. Please refer to SINK / SOURCE modes 11 V SG V 10k Ω 10k Ω Twisted-pair or twistedshield cable Twisted-pair or twistedshield cable Selection of Regenerative Resistor Recommended Specifications for Built-in Regenerative Resistor Resistance (Ohm) (parameter P1-52) Capacity (Watt) (parameter P1-53) The capacity of built-in regenerative resistor (Watt) 0.1 -- -- -- 60Ω 0.2 -- -- -- 60Ω 0.4 100Ω 60W 30W 60Ω 0.75 100Ω 60W 30W 60Ω 1.0 40Ω 60W 30W 30Ω 1.5 40Ω 60W 30W 30Ω 2.0 20Ω 100W 50W 15Ω 3.0 20Ω 100W 50W 15Ω Servo Drive (kW) Min. Allowable Resistance (Ohm) Note: 1) 100W ~ 200W of B2 servo drives have no built-in regenerative resistor. 2) When the fault, ALE05 (Regeneration Error) occurs, please increase the regenerative resistor capacity or decrease the regenerative resistor resistance (the regenerative resistor resistance should not be less than the minimum allowable resistance listed in the above table.) 3) If the issue persists, please purchase a regenerative resistor module. 4) When connecting to a regenerative resistor in parallel, make sure that the total resistance value of the regenerative resistors is not less than the minimum allowable resistance listed in the above table. IEC: International Electrotechnical Commission EN: Europaischen Normen EMC: Electromagnetic Compatibility IP: Ingress Protection Ratings 12 Specifications Power Supply ASDA-B2 Series 100 W 01 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW 02 04 07 10 15 20 30 Three-phase 170 ~ 255 VAC , 50/60 Hz ±5% Phase / Voltage Three - phase 170 ~ 255 VAC, 50 / 60 Hz ±5% Single-phase 200 ~ 255 VAC , 50/60 Hz ±5% Input Current (3PH) (Units: Arms) 0.39 1.11 1.86 3.66 4.68 5.9 8.76 9.83 Input Current (1PH) (Units: Arms) 0.69 1.92 4.5 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 Cooling System Natural Air Circulation Fan Cooling Encoder Resolution 17-bit (160,000 p/rev) Main Circuit Control SVPWM (Space Vector Pulse Width Modulation) Control Control Mode Auto / Manual Regenerative Resistor None Position Control Mode Max. Input Pulse Frequency Pulse Type Pulse + Direction, A phase + B phase, CCW pulse + CW pulse Command Source External pulse Smoothing Strategy Low-pass filter Electronic gear N/M multiple N: 1 ~ (226 -1) / M: 1 ~ (231 -1) (1/50 < N/M < 25600) E-gear Ratio Torque Limit Operation Set by parameters Feed Forward Compensation Set by parameters Analog Input Command Speed Control Mode Built-in Transmitted by differential: 500 K (low speed) / 4 Mpps (high-speed) Transmitted by open-collector: 200 Kpps Voltage Range 0 ~ ±10 VDC Input Resistance 10 KΩ Time Constant 2.2 μs *1 Speed Control Range 1:5000 Command Source External analog signal / Internal parameters Smoothing Strategy Low-pass and S-curve filter Torque Limit Set by parameters or via analog input Bandwidth Maximum 550 Hz ±0.01% at 0 to 100% load fluctuation Speed Accuracy *2 ±0.01% at ±10% power fluctuation ±0.01% at 0 oC to 50 oC ambient temperature fluctuation 13 Specifications Torque Control Mode ASDA-B2 Series Analog Input Command 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW 01 02 04 07 10 15 20 30 Voltage Range 0 ~ ±10 VDC Input Resistance 10 KΩ Time Constant 2.2 μs Command Source External analog signal / Internal parameters Smoothing Strategy Low-pass filter Speed Limit Set by parameters or via analog input Analog Monitor Output Input Digital Input / Output Monitor signal can set by parameters (Output voltage range: ±8 V) Servo on, Fault reset, Gain switch, Pulse clear, Zero clamp, Command input reverse control, Torque limit, Speed limit, Speed command selection, Speed / position mode switching, Speed / torque mode switching, Torque / position mode switching, Emergency stop, Positive/negative limit, Forward / reverse operation torque limit, Forward/reverse JOG input, E-gear N selection, Pulse input prohibition Encoder signal output (A, B, Z Line Driver / Z Open collector) Output Protective Functions Servo on, Servo ready, Zero speed, Target speed reached, Target position reached, Torque limiting, Servo alarm, Brake control, Early warning for overload, Servo warning Over current, Overvoltage, Under voltage, Overheat, Excessive speed deviation, Excessive position deviation, Encoder error, Emergency stop, Communication error, Short-circuit protection of terminal U, V, W and CN1, CN2, CN3 Communication Interface Installation Site RS-232 / RS-485 Indoor location (avoid direct sunlight), no corrosive liquid and gas (avoid oil mist, flammable gas, dust) Environment Altitude Altitude 2000 m or lower above sea level Atmospheric Pressure 86 kPa ~ 106 kPa Operating Temperature 0 ºC ~ 55 ºC (If operating temperature is above 45 ºC, forced cooling will be required) Storage Temperature -20 ºC ~ 65 ºC (-4 ºF to 149 ºF) Humidity 0 to 90% (non-condensing) Vibration Under 20 Hz, 9.80665 m/s2 (1G), 20 ~ 50 Hz 5.88 m/s2 (0.6 G) IP Rating IP20 Power System TN System*3 IEC/EN 61800-5-1 Certifications Footnote: *1. When it is in rated load, the speed ratio is: the minimum speed (smooth operation) / rated speed. *2. When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load - rotational speed with full load) / rated speed. *3. TN system: The neutral point of the power system connects to the ground directly. The exposed metal components connect to the ground via the protective earth conductor. 14 Dimensions ASD-B2-0121 ASD-B2-0221 ASD-B2-0421 ( 100 W / 200 W / 400 W ) Weight 1.07 (2.36) Ø5 (0.19) 70 (2.76) 16 2( 6. 37 ) 15 2( 5. 98 ) 60 .2 (2 .3 7) Ground Terminal 49 (1 .9 2) Screw: M4 x 0.7 Mounting Screw Type : 14 (kgf-cm) 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be updated without prior notice. 15 15 5. 9( 6. 13 ) ASD-B2-0721 (750W) Weight 1.54 (3.40) Ground Terminal Ø5 (0.19) 70 (2.76) 16 3.4(6 .43 ) 16 2( 6. 37) 15 2( 5. 98 ) 79 .5 (3.12) 49 (1 .9 2) Screw: M4 x 0.7 Mounting Screw Type: 14 (kgf-cm) 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be updated without prior notice. 16 Dimensions ASD-B2-1021 ASD-B2-1521 (1kW / 1.5kW) Weight 1.72 (3.79) 70 (2.76) 85 .1 (3.35) 5( 0. 19 ) 162( 6. 37) 152( 5. 98 ) Ø6 (0.23) 74 (2.91) Ground Terminal Screw: M4 x 0.7 Mounting Screw Type: 14 (kgf-cm) 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be updated without prior notice. 17 18 9. 4( 7. 45 ) ASD-B2-2023 ASD-B2-3023 (2kW / 3kW) Weight 2.67 (5.88) 113. 7( 4. 47 ) 70 (2.76 ) 5. 5( 0. 21 ) 22 5( 8. 85 ) 21 3( 8. 38 ) Ø6 (0.23) 10 2( 4. 01 ) Ground Terminal Screw: M4 x 0.7 Mounting Screw Type: 14 (kgf-cm) 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs). 2) Dimensions and weights of the servo drive may be updated without prior notice. 18 19 8. 2( 7. 8) Servo Motor Specifications Low Inertia Series Model: ECMA Series C▲06 C▲04 C▲08 C▲09 C▲10 C▲13 01 02 04□S 04 07 07 10 10 20 Rated power (kW) 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 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18 6.37 9.55 Maximum torque (N-m) 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 Maximum speed (r/min) 5000 3000 5000 30 3000 4500 Rated current (A) 0.90 1.55 2.6 2.6 5.1 3.66 4.25 7.3 12.05 17.2 Maximum current (A) 2.70 4.65 7.8 7.8 15.3 11 12.37 21.9 36.15 47.5 Power rating (kW/s) 27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1 90.6 71.8 Rotor inertia (x10-4kg-m2)(without brake) 0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 12.7 Mechanical constant (ms) 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) 0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44 0.53 0.557 Voltage constant-KE(mV/(r/min) 13.6 16 17.4 18.5 17.2 24.2 27.5 16.8 19.2 20.98 Armature resistance (Ohm) 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 0.0976 Armature inductance (mH) 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 1.21 Electric constant (ms) 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) >100 MΩ, 500 VDC  Insulation resistance 1.8k VAC, 1 sec Insulation strength Weight (kg) (without brake) 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 9.2 490 Max. radial shaft load (N) 78.4 196 196 245 245 245 245 490 490 Max. thrust shaft load (N) 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 Rotor inertia (x10-4kg-m2) (with brake) 0.04 0.192 0.30 0.73 1.18 1.95 2.67 3.33 4.95 14.0 Mechanical constant (ms) (with brake) 0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93 0.66 1.22 Brake holding torque [Nt-m (min)]*2 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8 8 10.0 Brake power consumption (at 20 ºC) [W] 7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7 18.7 19.0 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 ( μm ) 15 Operating temperature ( ºC) 0 ºC to 40 ºC (32 ºF to 104 ºF) Storage temperature ( ºC) -10 ºC to 80 ºC (-14 ºF to 176 ºF) Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) Vibration capacity IP Rating 2.5 G IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used)) Certifications Footnote: * 1 Rate torque values are continuous permissible values at 0~40 ºC ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-__04 / 06 / 08 : 250 mm × 250 mm × 6 mm ECMA-__10 : 300 mm × 300 mm × 12 mm ECMA-__13 : 400 mm × 400 mm × 20 mm ECMA-__18 : 550 mm × 550 mm × 30 mm ECMA-__22 : 650 mm × 650 mm × 30 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. 19 Servo Motor Specifications Medium / High Inertia Series E▲18 E▲13 Model: ECMA Series G▲13 05 10 15 20 20 30 35 03 06 Rated power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.5 0.3 0.6 0.9 Rated torque (N-m)*1 2.39 4.77 7.16 9.55 9.55 14.32 16.71 2.86 5.73 8.59 Maximum torque (N-m) 7.16 14.3 21.48 28.65 28.65 42.97 50.13 8.59 17.19 21.48 Rated speed (r/min) 2000 Maximum speed (r/min) 09 1000 3000 2000 Rated current (A) 2.9 5.6 8.3 11.01 11.22 16.1 19.2 2.5 4.8 7.5 Maximum current (A) 8.7 16.8 24.9 33.03 33.66 48.3 57.6 7.5 14.4 22.5 Power rating (kW/s) 7.0 27.1 45.9 62.5 26.3 37.3 50.8 10.0 39.0 66.0 Rotor inertia (x10-4kg-m2)(without brake) 8.17 8.41 11.18 14.59 34.68 54.95 54.95 8.17 8.41 11.18 Mechanical constant (ms) 1.91 1.51 1.10 0.96 1.62 1.06 1.08 1.84 1.40 1.06 Torque constant-KT (N-m/A) 0.83 0.85 0.87 0.87 0.85 0.89 0.87 1.15 1.19 1.15 Voltage constant-KE(mV/(r/min) 30.9 31.9 31.8 31.8 31.4 32.0 32 42.5 43.8 41.6 Armature resistance (Ohm) 0.57 0.47 0.26 0.174 0.119 0.052 0.052 1.06 0.82 0.43 Armature inductance (mH) 7.39 5.99 4.01 2.76 2.84 1.38 1.38 14.29 11.12 6.97 Electric constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 26.39 13.55 13.50 16.06 7.5 Insulation class Class A (UL), Class B (CE) >100 MΩ, 500 VDC  Insulation resistance 1.8k VAC, 1 sec Insulation strength Weight (kg) (without brake) 6.8 7.0 7.5 7.8 13.5 18.5 18.5 6.8 7.0 Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 22.5 22.5 8.2 8.4 8.9 Max. radial shaft load (N) 490 490 490 490 1176 1470 490 490 490 490 Max. thrust shaft load (N) 98 98 98 98 490 490 98 98 98 98 Power rating (kW/s) (with brake) 6.4 24.9 43.1 57.4 24.1 35.9 48.9 9.2 35.9 62.1 Rotor inertia (x10-4kg-m2) (with brake) 8.94 9.14 11.90 15.88 37.86 57.06 57.06 8.94 9.14 11.9 2.07 1.64 1.19 1.05 1.77 1.10 1.12 2.0 1.51 1.13 Brake holding torque [Nt-m (min)] 10.0 10.0 10.0 10.0 25.0 25.0 25.0 10.0 10.0 10.0 Brake power consumption (at 20 ºC) [W] Mechanical constant (ms) (with brake) *2 19.0 19.0 19.0 19.0 20.4 20.4 20.4 19.0 19.0 19.0 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 Vibration grade ( μm ) 15 Operating temperature ( ºC) 0 ºC to 40 ºC (32 ºF to 104 ºF) Storage temperature ( ºC) -10 ºC to 80 ºC (-14 ºF to 176 ºF) Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) Vibration capacity IP Rating 2.5 G IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used)) Certifications Footnote: * 1 Rate torque values are continuous permissible values at 0~40 ºC ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-__04 / 06 / 08 : 250 mm × 250 mm × 6 mm ECMA-__10 : 300 mm × 300 mm × 12 mm ECMA-__13 : 400 mm × 400 mm × 20 mm ECMA-__18 : 550 mm × 550 mm × 30 mm ECMA-__22 : 650 mm × 650 mm × 30 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. 20 Servo Motor Specifications Medium high / High Inertia Series Model: ECMA Series FΔ13 FΔ18 08 13 18 Rated power (kW) 0.85 1.3 1.8 3.0 Rated torque (N-m)*1 5.41 8.34 11.48 19.10 Maximum torque (N-m) 13.8 23.3 28.7 57.29 Rated speed (r/min) 30 1500 Maximum speed (r/min) 3000 Rated current (A) 7.1 12.6 13 19.4 Maximum current (A) 19.4 38.6 36 58.2 Power rating (kW/s) 21.52 34.78 52.93 66.4 Rotor inertia (x10-4kg-m2)(without brake) 13.6 20 24.9 54.95 Mechanical constant (ms) 2.43 1.62 1.7 1.28 Torque constant-KT (N-m/A) 0.76 0.66 0.88 0.98 Voltage constant-KE(mV/(r/min) 29.2 24.2 32.2 35.0 Armature resistance (Ohm) 0.38 0.124 0.185 0.077 Armature inductance (mH) 4.77 1.7 2.6 1.27 Electric constant (ms) 12.55 13.71 14.05 16.5 Insulation class Class A (UL), Class B (CE) Insulation resistance >100 MΩ, 500 VDC 1.8k VAC, 1 sec Insulation strength Weight (kg) (without brake) 8.6 9.4 10.5 18.5 Weight (kg) (with brake) 10.0 10.8 11.9 22.5 Max. radial shaft load (N) 490 490 490 1470 Max. thrust shaft load (N) 98 98 98 490 Power rating (kW/s) (with brake) 19.78 32.66 50.3 63.9 Rotor inertia (x10-4kg-m2) (with brake) 14.8 21.3 26.2 57.06 2.65 1.73 1.79 1.33 10.0 10.0 10.0 25.0 Mechanical constant (ms) (with brake) Brake holding torque [Nt-m (min)] *2 Brake power consumption (at 20 ºC) [W] 19.0 19.0 19.0 20.4 Brake release time [ms (Max)] 10 10 10 10 Brake pull-in time [ms (Max)] 70 70 70 70 Vibration grade ( μm ) 15 Operating temperature ( ºC) 0 ºC~ 40 ºC Storage temperature ( ºC) -10 ºC to 80 ºC (-14 ºF to 176 ºF) Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) Vibration capacity IP Rating 2.5 G IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used)) Certifications Footnote: *1 Rate torque values are continuous permissible values at 0 ~ 40° C ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm ECMA-__10 : 300mm x 300mm x 12mm ECMA-__13 : 400mm x 400mm x 20mm ECMA-__18 : 550mm x 550mm x 30mm ECMA-__22 : 650mm x 650mm x 35mm Material type : Aluminum – F40, F60, F80, F100, F130, F180 *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. 21 Servo Motor Specifications High Inertia Series Model: ECMA Series CΔ06 04 CΔ08 H 07 H Rated power (kW) 0.4 0.75 Rated torque (N-m)*1 1.27 2.39 Maximum torque (N-m) 3.82 7.16 3000 Rated speed (r/min) 5000 Maximum speed (r/min) Rated current (A) 2.6 5.1 Maximum current (A) 7.8 15.3 Power rating (kW/s) 21.7 19.63 Rotor inertia (x10-4kg-m2)(without brake) 0.743 2.91 Mechanical constant (ms) 1.42 1.6 Torque constant-KT (N-m/A) 0.49 0.47 Voltage constant-KE(mV/(r/min) 17.4 17.2 Armature resistance (Ohm) 1.55 0.42 Armature inductance (mH) 6.71 3.53 Electric constant (ms) 4.3 8.36 Class A (UL), Class B (CE) Insulation class >100 MΩ, 500 VDC Insulation resistance 1.8k VAC, 1 sec Insulation strength Weight (kg) (without brake) 1.8 Weight (kg) (with brake) 2.2 3.4 3.9 Max. radial shaft load (N) 196 245 68 98 Power rating (kW/s) (with brake) 21.48 19.3 Rotor inertia (x10-4kg-m2) (with brake) 0.751 2.96 Mechanical constant (ms) (with brake) 1.43 1.62 Brake holding torque [Nt-m (min)]*2 1.3 2.5 Brake power consumption (at 20 ºC) [W] 6.5 8.2 Brake release time [ms (Max)] 10 10 Brake pull-in time [ms (Max)] 70 Max. thrust shaft load (N) 70 15 Vibration grade ( μm ) 0 ºC~ 40 ºC Operating temperature ( ºC) Storage temperature ( ºC) -10 ºC to 80 ºC (-14 ºF to 176 ºF) Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) 2.5 G Vibration capacity IP Rating IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used)) Certifications Footnote: *1 Rate torque values are continuous permissible values at 0 ~ 40° C ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm ECMA-__10 : 300mm x 300mm x 12mm ECMA-__13 : 400mm x 400mm x 20mm ECMA-__18 : 550mm x 550mm x 30mm ECMA-__22 : 650mm x 650mm x 35mm Material type : Aluminum – F40, F60, F80, F100, F130, F180 *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. 22 Servo Motor Dimensions Motors - Frame Size 86mm and below Units: mm Model LC LZ LA S LB C 0401 S C 0602 S C 0604 S C 0604 H C 0804 7 C 0807 S C 0807 H C 0907 S C 60 60 60 80 80 80 4.5 5.5 5.5 5.5 6.6 6.6 6.6 6.6 6.6 46 70 70 70 90 90 90 100 100 +0 19 ( - 0.013 ) +0 8 ( - 0.009 ) 30 ( +0 - 0.021 ) +0 14 ( - 0.011 ) 50 ( +0 - 0.025 ) +0 14 ( - 0.011 ) 50 ( +0 - 0.025 ) +0 14 ( - 0.011 ) 50 ( +0 - 0.025 ) +0 14 ( - 0.011 ) 70 ( +0 - 0.030 ) +0 19 ( - 0.013 ) 70 ( +0 - 0.030 86 0910 40 ) 70 ( +0 - 0.030 ) +0 16 ( - 0.011 ) 80 ( +0 - 0.030 ) +0 16 ( - 0.011 ) +0 80 ( - 0.030 ) LL (without brake) LL (with brake) LS LR LE LG LW RH WK W T 100.6 105.5 130.7 145.8 112.3 138.3 154.8 130.2 153.2 136.8 141.6 166.8 176.37 152.8 178 187.8 161.3 184.3 20 27 27 27 27 32 32 30 30 25 30 30 30 30 35 35 35 35 2.5 3 3 3 3 3 3 3 3 5 7.5 7.5 7.5 8 8 8 8 8 16 20 20 20 20 25 25 20 20 6.2 11 11 11 11 15.5 15.5 13 13 3 5 5 5 5 6 6 5 5 3 5 5 5 5 6 6 5 5 3 5 5 5 5 6 6 5 5 TP M3 Depth 8 M4 Depth 15 M4 Depth 15 M4 Depth 15 M4 Depth 15 M6 Depth 20 M6 Depth 20 M5 Depth 15 M5 Depth 15 1) Dimensions are in millimeters. Actual measured values are in metric units. 2) Dimensions of the servo motor may be updated without prior notice. 3) The boxes ( ) in the model names represent shaft end / brake or the number of oil seal. 4) The boxes ( ) in the model names represent encoder types ( =1: Incremental encoder, 20-bit; S 86 =2: Incremental encoder, 17-bit). Speed-Torque Curves (T-N Curves) Torque (N-m) Intermittent Duty Zone Continuous Duty Zone Speed (r/min) ECMA-C ▲ 0604 □ S ECMA-C ▲ 0604 □ H ECMA-C ▲ 0804 □ 7 ECMA-C ▲ 0602 □ S Torque (N-m) Torque (N-m) 8.78 (276%) 7.14 (298%) 6.00 (251%) Continuous Duty Zone Continuous Duty Zone ECMA-C ▲ 0401 □ S 5.85 (184%) Intermittent Duty Zone 2.38 (100%) 3.18 (100%) Continuous Duty Zone Intermittent Duty Zone Continuous Duty Zone Speed (r/min) 2,000 ECMA-C ▲ 0907 □ S Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Speed (r/min) Torque (N-m) Torque (N-m) Torque (N-m) 3,000 Speed (r/min) ECMA-C ▲ 0910 □ S 23 Speed (r/min) Continuous Duty Zone ECMA-C ▲ 0807 □ S ECMA-C ▲ 0807 □ H Speed (r/min) Motors - Frame Size 100mm ~ 130mm Units: mm Model C 1010 S C 1020 LC LZ LA 100 9 115 S 22 ( - 0.013 ) LB 95 ( - 0.035 ) +0 95 ( - 0.035 ) +0 LL（不帶煞車） LL（帶煞車） 153.3 192.5 37 45 5 12 32 18 8 8 7 M6 Depth 20 199 226 37 45 5 12 32 18 8 8 7 M6 Depth 20 LS LR LE LG LW RH WK W T TP +0 S C 1330 100 9 115 4 130 9 145 +0 22 ( - 0.013 ) E 1305 S 130 9 145 +0 22 ( - 0.013 ) 110 ( - 0.035 ) +0 187.5 216 47 55 6 11.5 36 20 8 8 7 M6 Depth 20 24 ( - 0.013 ) E 1310 Intermittent Duty Zone Continuous Duty Zone 110 ( - 0.035 ) +0 110 ( - 0.035 ) 147.5 183.5 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 167.5 202 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 110 ( - 0.035 ) +0 147.5 183.5 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 =2: Incremental encoder, 17-bit). ECMA-C ▲ 1010 □ S Continuous Duty Zone Speed (r/min) Speed (r/min) ECMA-C ▲ 1330 □ 4 ECMA-C ▲ 1020 □ S Torque (N-m) Torque (N-m) Intermittent Duty Zone Intermittent Duty Zone Continuous Duty Zone Continuous Duty Zone Speed (r/min) ECMA-E ▲ 1305 □ S Intermittent Duty Zone Continuous Duty Zone Speed (r/min) Torque (N-m) Intermittent Duty Zone Continuous Duty Zone Speed (r/min) Speed (r/min) ECMA-E ▲ 1315 □ S ECMA-E ▲ 1310 □ S 24 S 130 9 145 22 ( - 0.013 ) Torque (N-m) Intermittent Duty Zone 1315 +0 22 ( - 0.013 ) Speed-Torque Curves (T-N Curves) Torque (N-m) E 130 9 145 +0 1) Dimensions are in millimeters. Actual measured values are in metric units. 2) Dimensions of the servo motor may be updated without prior notice. 3) The boxes ( ) in the model names represent shaft end / brake or the number of oil seal. 4) The boxes ( ) in the model names represent encoder types ( =1: Incremental encoder, 20-bit; Torque (N-m) S +0 +0 Servo Motor Dimensions Motors - Frame Size 100mm ~ 130mm Units: mm Model LC E 1320 S LZ LA S 22 ( - 0.013 ) LB LL (without brake) LL (with brake) LS LR LE LG LW RH WK W T TP F 1308 130 9 145 S 130 9 145 +0 22 ( - 0.013 ) 110 ( - 0.035 ) +0 187.5 216 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 F 1313 S 130 9 145 F 1318 S 130 9 145 +0 22 ( - 0.013 ) +0 22 ( - 0.013 ) 110 ( - 0.035 ) +0 110 ( - 0.035 ) +0 152.5 181 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 187.5 216 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 G 1303 S 130 9 145 +0 22 ( - 0.013 ) 110 ( - 0.035 ) +0 202 230.7 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 G 1306 S +0 22 ( - 0.013 ) 110 ( - 0.035 ) +0 147.5 183.5 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 1) Dimensions are in millimeters. Actual measured values are in metric units. 2) Dimensions of the servo motor may be updated without prior notice. 3) The boxes ( ) in the model names represent shaft end / brake or the number of oil seal. 4) The boxes ( ) in the model names represent encoder types ( =1: Incremental encoder, 20-bit; G 130 9 145 1309 S 130 9 145 +0 22 ( - 0.013 ) +0 110 ( - 0.035 ) +0 110 ( - 0.035 ) 147.5 183.5 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 163.5 198 47 55 6 11.5 36 18 8 8 7 M6 Depth 20 +0 =2: Incremental encoder, 17-bit). Speed-Torque Curves (T-N Curves) Torque (N-m) Torque (N-m) Intermittent Duty Zone Intermittent Duty Zone Continuous Duty Zone Speed (r/min) ECMA-E ▲ 1320 □ S Continuous Duty Zone Speed (r/min) Speed (r/min) Intermittent Duty Zone Continuous Duty Zone Continuous Duty Zone Speed (r/min) Speed (r/min) ECMA-G ▲ 1306 □ S ECMA-G ▲ 1309 □ S 25 Continuous Duty Zone ECMA-F ▲ 1318 □ S Torque (N-m) Intermittent Duty Zone Speed (r/min) Intermittent Duty Zone ECMA-F ▲ 1313 □ S Torque (N-m) Intermittent Duty Zone ECMA-G ▲ 1303 □ S Continuous Duty Zone Torque (N-m) Intermittent Duty Zone ECMA-F ▲ 1308 □ S Torque (N-m) Continuous Duty Zone Torque (N-m) Speed (r/min) Motors - Frame Size 180mm Units: mm Model E LC LZ LA 1820 S E 180 13.5 200 LB 114.3 ( LL (without brake) LL (with brake) TP 1830 ) 114.3 ( S E 1835 180 13.5 200 +0 - 0.035 +0 35 ( - 0.016 ) ) 114.3 ( 202.1 235.3 73 79 4 20 63 30 10 10 8 M12 Depth 25 +0 - 0.035 35 ( - 0.016 ) ) 114.3 ( 202.1 235.3 73 79 4 20 63 30 10 10 8 M12 Depth 25 1) Dimensions are in millimeters. Actual measured values are in metric units. 2) Dimensions of the servo motor may be updated without prior notice. 3) The boxes ( ) in the model names represent shaft end / brake or the number of oil seal. 4) The boxes ( ) in the model names represent encoder types ( =1: Incremental encoder, 20-bit; S 180 13.5 200 +0 35 ( - 0.016 ) 169 203.1 73 79 4 20 63 30 10 10 8 M12 Depth 25 LS LR LE LG LW RH WK W T F +0 35 ( - 0.016 ) +0 - 0.035 S 180 13.5 200 +0 S 1830 +0 - 0.035 ) 202.1 235.3 73 79 4 20 63 30 10 10 8 M12 Depth 25 =2: Incremental encoder, 17-bit). Speed-Torque Curves (T-N Curves) Torque (N-m) Torque (N-m) 28.65 (300%) 9.55 (100%) 6.40 (67%) 42.97 (300%) Intermittent Duty Zone 14.32 (100%) Intermittent Duty Zone Continuous Duty Zone 9.59 (67%) Continuous Duty Zone 2,000 3,000 ECMA-E ▲ 1820 □ S Speed (r/min) 2,000 Torque (N-m) Torque (N-m) 57.29 (300%) 50.13 (300%) 19.10 (100%) 3,000 9.55 (50%) Speed (r/min) Intermittent Duty Zone 16.71 (100%) Intermittent Duty Zone Continuous Duty Zone 11.20 (67%) Continuous Duty Zone 1,500 ECMA-E ▲ 1830 □ S 3,000 ECMA-F ▲ 1830 □ S 26 Speed (r/min) 2,000 ECMA-E ▲ 1835 □ S 3,000 Speed (r/min) Optional Accessories Power Cables ■ 3m and 5m standard cables are available. ■ Individual connectors are also provided for different demands. ■ Two types are selectable: with brake and without brake. CN1 I/O Connectors ■ Used to connect to external (host) controller ■ Delta Part Number: ASDBCNDS0044 CN1 Convenient Connector ■ Delta Part Number: ASD-IF-DS4444 Encoder Cables ■ 3m and 5m standard cables are available. ■ Individual connectors are also provided for different demands. 27 Regenerative Resistors ■ Two kinds of regenerative resistors are available, 400W / 40Ω and 1kW / 20Ω. Terminal Block Modules ■ 0.5m connection cable is provided for saving on installation space. ■ Delta Part Number: ASD-MDDS4444 RS-485 Connectors ■ Used to connect multiple ASDA Series products by RS-485 interface through Modbus serial communication. ■ Delta Part Number: ASD-CNIE0B06 ASD-Soft Software Communication Cables (for PC) ■ Delta Part Number: ASD-CNUS0A08 The figures are for illustration purposes only. Actual models may differ slightly in appearance from illustrations provided. 28 Optional Accessories Power Connectors ASDBCAPW0000 ASD-CAPW1000 3106A-20-18S ASDBCAPW0100 ASD-CAPW2000 3106A-24-11S Power Cables ASDBCAPW0203/0205 KST: SVBL1-3. 7 L KST: RVBL1- 4 Item Part No. 1 L mm inch ASDBCAPW0203 3000 ± 50 118 ± 2 2 ASDBCAPW0205 5000 ± 50 197 ± 2 Item Part No. ASDBCAPW0303/0305 KST: SVBL1-3. 7 KST: RVBL1- 4 L 29 L mm inch 1 ASDBCAPW0303 3000 ± 50 118 ± 2 2 ASDBCAPW0305 5000 ± 50 197 ± 2 Power Cables ASDBCAPW1203/1205 KS T: YF3.5-3SG L 3106A-20-18S L Item Part No. Straight mm inch 1 ASDBCAPW1203 3106A-20-18S 3000 ± 50 118 ± 2 2 ASDBCAPW1205 3106A-20-18S 5000 ± 50 197 ± 2 ASDBCAPW1303/1305 KS T: YF3.5-3SG 3106A-20-18S L L Item Part No. Straight mm inch 1 ASDBCAPW1303 3106A-20-18S 3000 ± 50 118 ± 2 2 ASDBCAPW1305 3106A-20-18S 5000 ± 50 197 ± 2 ASD-CAPW2203/2205 KST: SVB3-4 KST: RVBL5-4 L 3106A-24-11S Item Part No. Straight 1 ASD-CAPW2203 2 ASD-CAPW2205 L mm inch 3106A-24-11S 3000 ± 50 118 ± 2 3106A-24-11S 5000 ± 50 197 ± 2 ASD-CAPW2303/2305 KST: SVB3- 4 L KST: RVBL5- 4 3106A-24-11S Item Part No. Straight L mm inch 1 ASD-CAPW2303 3106A-24-11S 3000 ± 50 118 ± 2 2 ASD-CAPW2305 3106A-24-11S 5000 ± 50 197 ± 2 30 Optional Accessories Encoder Connectors ASDBCAEN0000 D-SUB Connector 9P ASDBCAEN1000 3106A-20-29S D-SUB Connector 9P Encoder Cables ASDBCAEN0003/0005 L D-SUB Connector 9P L Item Part No. 1 ASDBCAEN0003 3000 ± 50 118 ± 2 2 ASDBCAEN0005 5000 ± 50 197 ± 2 mm inch ASDBCAEN1003/1005 L 3106A-20-29S D-SUB Connector 9P L Item Part No. Straight 1 ASDBCAEN1003 3106A-20-29S 3000 ± 50 118 ± 2 2 ASDBCAEN1005 3106A-20-29S 5000 ± 50 197 ± 2 31 mm inch I/O Signal Connector RS-485 Connector Dimensions are in mm ASD-BCNDS0044 D-SUB 44 PIN PLUG ASD-CNIE0B06 ASDBCAEN1000 D-SUB 15 PIN PLUG 1) More accessories for ASDA-B2 will be on the list. 2) Accessories images shown here may differ from the actual product. Communication Cable between Drive and Computer (for PC) Dimensions are in mm ASD-CNUS0A08 L (50) 80.1 1. 8 21 .2 22.5 Title Voltage Output Cable (Analog Signal) Dimensions are in mm 3864471800 1 2 3 20 ± 5 Terminal Block Module Dimensions are in mm ASD-MDDS4444 32 Part No.Part No. : ASD-CNUS0A08 Cable L Connector RJ connector USB connector 3000 ± 100 mm 118 ± 4 inch RJ-45 A-type (USB V2.0) Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor ASD-B2-0121-B Servo Drive Low Inertia Servo Motor ECMA-C △ 0401 Power Cables (Without Brake) S ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (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 Servo Drive ASD-B2-0221-B Low Inertia Servo Motor ECMA-C △ 0602 Power Cables (Without Brake) S ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 400W Servo Drive and 400W Low Inertia Servo Motor Servo Drive ASD-B2-0421-B Low Inertia Servo Motor ECMA-C △ 0604 S ECMA-C △ 0804 7 ECMA-CM0604PS Power Cables (Without Brake) ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 400W Servo Drive and 400W High Inertia Servo Motor Servo Drive ASD-B2-0421-B High Inertia Servo Motor ECMA-C △ 0604 Power Cables (Without Brake) H ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 33 400W Servo Drive and 500W Medium Inertia Servo Motor ASD-B2-0421-B Servo Drive Medium Inertia Servo Motor ECMA-E △ 1305 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Incremental Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 400W Servo Drive and 300W High Inertia Servo Motor Servo Drive ASD-B2-0421-B High Inertia Servo Motor ECMA-G △ 1303 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-B2-0721-B High Inertia Servo Motor ECMA-G △ 1306 S ECMA-GM1306PS Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 750W Servo Drive and 750W Low Inertia Servo Motor Servo Drive ASD-B2-0721-B Low Inertia Servo Motor ECMA-C △ 0807 S ECMA-C △ 0907 7 ECMA-CM0807PS Power Cables (Without Brake) ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 34 Accessories Combinations 750W Servo Drive and 750W High Inertia Servo Motor Servo Drive ASD-B2-0721-B High Inertia Servo Motor ECMA-C △ 0807□H Power Cables (Without Brake) ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1kW Servo Drive and 850W Low Inertia Servo Motor Servo Drive ASD-B2-1021-B Low Inertia Servo Motor ECMA-F △ 1308 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive ASD-B2-1021-B Low Inertia Servo Motor ECMA-C △ 1010 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive ASD-B2-1021-B Low Inertia Servo Motor ECMA-C △ 0910 Power Cables (Without Brake) ASDBCAPW020X Power Connectors (Without Brake) ASDBCAPW0000 Power Cables (With Brake) ASDBCAPW030X Power Connectors (With Brake) ASDBCAPW0100 Incremental Encoder Cables ASDBCAEN000X Encoder Connectors ASDBCAEN0000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 35 1kW Servo Drive and 1kW Medium Inertia Servo Motor ASD-B2-1021-B Servo Drive Medium Inertia Servo Motor ECMA-E △ 1310 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-B2-1021-B High Inertia Servo Motor ECMA-G △ 1309 S ECMA-GM1309PS Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive ASD-B2-1521-B Medium Inertia Servo Motor ECMA-E △ 1315 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 2kW Servo Drive and 2kW Low Inertia Servo Motor Servo Drive ASD-B2-2023-B Low Inertia Servo Motor ECMA-C △ 1020 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASDBCAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 36 Accessories Combinations 2kW Servo Drive and 2kW Medium Inertia Servo Motor ASD-B2-2023-B Servo Drive Medium Inertia Servo Motor S ECMA-E △ 1320 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-B2-2023-B Medium Inertia Servo Motor ECMA-E △ 1820 S Power Cables (Without Brake) ASD-CAPW220X Power Cables (With Brake) ASD-CAPW230X Power Connectors ASD-CAPW2000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 2kW Servo Drive and 1.3kW Medium High Inertia Servo Motor Servo Drive ASD-B2-2023-B Medium High Inertia Servo Motor ECMA-F11313 S Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 2kW Servo Drive and 1.8kW Medium High Inertia Servo Motor Servo Drive ASD-B2-2023-B Medium High Inertia Servo Motor ECMA-F11318 S Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 37 3kW Servo Drive and 3kW Low Inertia Servo Motor ASD-B2-3023-B Servo Drive Low Inertia Servo Motor ECMA-C △ 1330 Power Cables (Without Brake) ASDBCAPW120X Power Cables (With Brake) ASDBCAPW130X Power Connectors ASD-CAPW1000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 4 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 3kW Servo Drive and 3kW Medium Inertia Servo Motor Servo Drive ASD-B2-3023-B Medium Inertia Servo Motor ECMA-E △ 1830 Power Cables (Without Brake) ASD-CAPW220X Power Cables (With Brake) ASD-CAPW230X Power Connectors ASD-CAPW2000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 3kW Servo Drive and 3.5kW Medium Inertia Servo Motor Servo Drive ASD-B2-3023-B Medium Inertia Servo Motor ECMA-E △ 1835 Power Cables (Without Brake) ASD-CAPW220X Power Cables (With Brake) ASD-CAPW230X Power Connectors ASD-CAPW2000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 3kW Servo Drive and 3kW Medium High Inertia Servo Motor Servo Drive ASD-B2-3023-B Medium High Inertia Servo Motor ECMA-F △ 1830 Power Cables (Without Brake) ASD-CAPW220X Power Cables (With Brake) ASD-CAPW230X Power Connectors ASD-CAPW2000 Encoder Cables ASDBCAEN100X Encoder Connectors ASDBCAEN1000 S (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) Other Accessories (for ASDA-B2 Series all models) Description Delta Part Number Communication Cable between Servo Drive and Computer ASD-CARS0003 Regenerative Resistor 400W 100Ω BR400W040 Regenerative Resistor 1kW 1000Ω BR1K0W020 38 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 Support: Customer-Support@deltaww.com Service: Service.IA.emea@deltaww.com TEL: +31(0)40 800 3900 Delta Electronics (Shanghai) Co., Ltd. Delta Electronics (Japan), Inc. Tokyo Office Industrial Automation Sales Department 2-1-14 Shibadaimon, Minato-ku Tokyo, Japan 105-0012 TEL: 81-3-5733-1155 / FAX: 81-3-5733-1255 Delta Electronics (Korea), Inc. Seoul Office 1511, 219, Gasan Digital 1-Ro., Geumcheon-gu, Seoul, 08501 South Korea TEL: 82-2-515-5305 / FAX: 82-2-515-5302 Headquarters: Delta Electronics (Netherlands) B.V. BENELUX: Delta Electronics (Netherlands) B.V. De Witbogt 20, 5652 AG Eindhoven, The Netherlands Mail: Sales.IA.Benelux@deltaww.com TEL: +31(0)40 800 3900 DACH: Delta Electronics (Netherlands) B.V. Coesterweg 45, D-59494 Soest, Germany Mail: Sales.IA.DACH@deltaww.com TEL: +49(0)2921 987 0 France: Delta Electronics (France) S.A. 4 Kaki Bukit Avenue 1, #05-04, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 ZI du bois Challand 2, 15 rue des Pyrénées, Lisses, 91090 Evry Cedex, France Mail: Sales.IA.FR@deltaww.com TEL: +33(0)1 69 77 82 60 Delta Electronics (India) Pvt. Ltd. Iberia: Delta Electronics Solutions (Spain) S.L.U Delta Electronics (Thailand) PCL. Carrer Llacuna 166, 08018 Barcelona, Spain Mail: Sales.IA.Iberia@deltaww.com Delta Energy Systems (Singapore) Pte Ltd. Plot No.43, Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL: 91-124-4874900 / FAX : 91-124-4874945 909 Soi 9, Moo 4, Bangpoo Industrial Estate (E.P.Z), Pattana 1 Rd., T.Phraksa, A.Muang, Samutprakarn 10280, Thailand TEL: 66-2709-2800 / FAX : 662-709-2827 Delta Electronics (Australia) Pty Ltd. Unit 20-21/45 Normanby Rd., Notting Hill Vic 3168, Australia TEL: 61-3-9543-3720 Americas Delta Electronics (Americas) Ltd. Raleigh Office P.O. Box 12173, 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969 Delta Electronics Brazil São Paulo Sales Office Rua Itapeva, 26 - 3°, andar Edificio Itapeva, One - Bela Vista 01332-000 - São Paulo - SP - Brazil TEL: 55-12-3932-2300 / FAX: 55-12-3932-237 Delta Electronics International Mexico S.A. de C.V. Mexico Office Gustavo Baz No. 309 Edificio E PB 103 Colonia La Loma, CP 54060 Tlalnepantla, Estado de México TEL: 52-55-3603-9200 Ctra. De Villaverde a Vallecas, 265 1º Dcha Ed. Hormigueras – P.I. de Vallecas 28031 Madrid TEL: +34(0)91 223 74 20 Italy: Delta Electronics (Italy) S.r.l. Via Meda 2–22060 Novedrate(CO) Piazza Grazioli 18 00186 Roma Italy Mail: Sales.IA.Italy@deltaww.com TEL: +39 039 8900365 Russia: Delta Energy System LLC Vereyskaya Plaza II, office 112 Vereyskaya str. 17 121357 Moscow Russia Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240 Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) Şerifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye – İstanbul Mail: Sales.IA.Turkey@deltaww.com TEL: + 90 216 499 9910 GCC: Delta Energy Systems AG (Dubai BR) P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre Dubai, United Arab Emirates Mail: Sales.IA.MEA@deltaww.com TEL: +971(0)4 2690148 Egypt + North Africa: Delta Electronics Unit 318, 3rd Floor, Trivium Business Complex, North 90 street, New Cairo, Cairo, Egypt Mail: Sales.IA.MEA@deltaww.com *We reserve the right to change the information in this catalogue without prior notice. DELTA_IA-ASDA_ASDA-B2_C_EN_20200817