Delta Motion Control Solution

Delta Motion Control Solution
Automation for a Changing World
Delta Motion Control Solution
w w w. d e l t a w w. c o m
Smarter. Greener. Together.
Who We Are
■■ A global leader in power and thermal management technology with world-class customers in
several industries.
■■ A leading brand of smart automation and energy management solutions for smart factories,
industrial processes, data centers, telecom networks, green buildings and more.
■■ Our mission is “To provide innovative, clean and energy-efficient solutions for a better tomorrow”
About Delta Industrial Automation
Since the launch of our first AC motor drive in 1995, the Delta Industrial Automation Business
Group (IABG) has focused on automation technology with quality, reliability and precision to realize
our promise of “Automation for a Changing World”. We provide innovative automation products
that include AC motor drives, power quality improvement devices, sensors, and control and motion
devices. With enhanced integration and industrial network development, our industrial automation
solutions find application in a broad range of machinery, including: metal processing machines
used industries such as food, textiles, chemicals, electronics, and plastics; automation equipment
used in the pharmaceutical and printing industries; and energy-saving air-conditioning and water
supply facilities used in buildings. Our mission is: “To elevate our living environment through
advanced automation technology and value-added innovation”. With Delta's innovative, reliable,
energy-saving automation solutions and rapid global service, we help make the world "Smarter.
Greener. Together." with our partners and customers.
1
Table of Contents
ASDA A2-E
Series
03
Features
Communication Specifications
Part Names and Functions
Ordering Information
ASDA-A2
Series
Features
04
Model Explanation
Servo Motor Features
ASDA-B2
Series
08
Features
Model Explanation
ASDA-M
Series
10
Features
Model Explanation
ASDA-A2R
Series
13
Features
Model Explanation
Motor Features
ASDA-Soft Series
ASDA-Soft Configuration Software
PAC
Solution
Features
PAC Selection Guide
21
23
Centralized Slave Module
HMC Series
Field Applications
Features
Model Explanation
PS
Series
Planetary Gearbox
Features
Model Explanation
Compatible Motor Table
2
25
27
ASDA A2-E
Series
Delta's ASDA A2-E, an advanced AC Servo Drive with an EtherCAT communication interface, complies
with IEC61158 and IEC61800-7 to enable faster, real-time, and accurate performance in high-end
applications. The new A2-E supports the CoE device profile based on CiA402, and all command types
of EtherCAT. In addition to the EtherCAT communication function, A2-E features the integrated Safe
Torque Off (STO), short cycle time, and extension digital input port, which makes the A2-E ideal for
multi-axis synchronization applications in a wide range of machinery automation applications. This
series offers a large range of rated power to drive motors, from 400 W to 7.5 kW for 400 V and 100 W
to 3 kW for 220 V.
Features
Implements High Precision Positioning Control
►►
Touch Probe function can be enabled with the Digital Inputs (DI) on CN7 or
the external encoder
►►
Integrated Safe Torque Off (STO) safety function complies with the standards
of IEC61508, SIL2; IEC62061, SILCL2; ISO13849-1, Cat. 3 PL=d
►►
Wide power range coverage for both 220V and 400V versions
►►
Supports full-closed loop control
►►
Supports absolute type and incremental type ECMA Series motors
Communication Specifications
Physical Layer
IEEE802.3u (100 BASE-TX)
EtherCAT Commands
(Data Link Layer)
APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW, APRW, FPRW, BRW,
LRW
Device Profile (CiA402)
Homing Mode, Profile Position Mode, Profile Velocity Mode, Profile Torque Mode,
Interpolated Position Mode, Cyclic Syn. Position Mode, Cyclic Syn. Velocity Mode, Cyclic Syn.
Torque Mode, Touch Probe Function, Torque Limit Function
Process Data Size
Bus Clock
LED Indicator
Tx: 8 Object (32 byte, Max.)
Rx: 8 Object (32 byte, Max.) Dynamic Mapping supported.
DC cycle with min. 250 us
EtherCAT Link/Activity Indicator (L/A) x 2
EtherCAT RUN Indicator (RUN) x 1
EtherCAT ERROR Indicator (ERR) x 1
Part Names and Functions
Servo Status Display /
Operation Panel /
Charge LED
Ordering Information
ASD - A2 - 04
21 - E
EtherCAT Model
External Encoder
Digital I/O
Extension DI Port
Motor Encoder
EtherCAT Status LED
Series : A2
Product Name
AC Servo Drive
Input Voltage and Phase
21 : 220V 1-phase/3-phase
23 : 220V 3-phase
43 : 400V 3-phase
Rated Output Power
01 : 100 W
20 : 2 kW
02 : 200 W
30 : 3 kW
04 : 400 W
45 : 4.5 kW
07 : 750 W
55 : 5.5 kW
10 : 1 kW
75 : 7.5 kW
15 : 1.5 kW
EtherCAT Port
Safe Torque Off I/O
USB Port
3
ASDA-A2
Series
DT3
Features
High Positioning Accuracy
►►
ECMA series servo motors feature incremental encoders with 20-bit level resolution which can improve
low speed stability, smooth motor operation and enhance the accuracy of positioning.
►►
Absolute type encoder with 17-bit level resolution is supported.
High Responsiveness
►►
Up to 1 kHz frequency response.
►►
Settling time below 1 ms.
►►
7 ms acceleration time for speeds from -3000 r/min to 3000 r/min with an empty load!
(Note: The test record is of a 400 W motor with 60 mm frame size).
Auto Notch Filter
30
►►
Vibration Suppression (Low Frequency):
Two vibration suppression filters are provided
for the long arm mechanism to settle down with
less vibration.
20
10
0
-10
-20
-30
0
1
2
3
4
Before Suppression
Resonance Suppression (High Frequency) :
Two auto-notch filters and one manual notch
filter are equipped to prevent resonance effects
on the machine.
5
6
7
After Suppression
2000
1500
speed (rpm)
►►
torque (Amp)
Excellent Suppression Functions
1000
500
0
-500
-1000
-1500
-2000
0
1
2
3
4
5
6
7
t (sec)
Auto Notch Filter Starts
Full-Closed Control Function
►►
Ensures the accuracy of positioning by
eliminating the effects of backlash and flexible
mechanism.
Motor Encoder
CN5
CN2
Linear Scale
4
Electronic Cam (E-Cam) Function
►►
720 points max. for E-Cam outline.
►►
E-Cam curve smoothing function can bring
out smooth motion.
►►
ASDA-Soft for easy designing of cam
profile.
►►
Excellent for flying shear, rotary cut, and
other cam applications.
Versatile PR Mode
►►
ASDA-Soft for easy motion configuration.
►►
64 motion paths and continuously jointed paths are supported.
►►
Abrupt motion command change is possible including speed and ACC / DEC slope.
►►
35 different homing modes are supported.
►►
Procedure Jump, Parameter Writing, Speed Control, and Position Control modes are available.
►►
4 different kinds of position commands. Absolute command, Relative command, Incremental
command, and Fast Capture Relative command.
Supports High-Speed DMCNET, EtherCAT, CANopen Protocols for Multi-Axis
Synchronous Control
DOP-B
DVS
Ethernet
AH500
PCI-DMC
CANopen
DMCNET
MH1-S30D
or
ASDA-A2-F
ASDA-A2-E
5
DVP-10MC
ASDA-A2-M
Model Explanation
ASDA-A2 Series Servo Drives
ASD -
A2
-
04
21
-
M
Model Type
Product Name:
(see the table below)
AC Servo Drive
Input Voltage and Phase
Series:
A2
01: 100 W
02: 200 W
04: 400 W
07: 750 W
Standard Type
Network Type
NOTE
21: 220V 1-phase / 3-phase
23: 220V 3-phase
43: 400V 3-phase
Rated Output Power
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW
45: 4.5 kW
55: 5.5 kW
75: 7.5 kW
1B: 11 kW
1F: 15 kW
Extension
Port for
Digital Input
(CN7)
EtherCAT
CANopen
DMCNET
Analog
Voltage
Control
Pulse
Input
Port
PR
Parameters*2
○
X
X
X
X
○
○
○
X
○
○
X
X
X
○
○
○
○
○
Type
RS-485
(CN3)
Full-Closed
Control
(CN5) *1
L
○
U
○
E-Cam *3
E
X
○
○
○
X
X
X
X
○
F
○
○
X
X
X
○
X
X
○
X
M
○
○
X
X
○
X
○
○
○
○
1. In PR mode, only A2-F supports full-closed control function.
2. PR parameters can be read and written through communication by DMCNET only.
3. E-Cam function can only be used in PR mode.
ECMA Series Servo Motors
ECM A - C1 06 02
E
S
S: Standard Shaft Diameter
H: Specific Shaft Diameter / High Inertia Model
Product Name
ECM: Electrical
Commutation Motor
W/O
Brake
With
Brake
W/O
Brake
With
Brake
W/O Oil
Seal
W/O Oil
Seal
With
Oil Seal
With
Oil Seal
Round Shaft
(with screw hole)
-
-
C
D
Keyway
E
F
-
-
Keyway (with
screw hole)
P
Q
R
S
Shaft Type and
Oil Seal
Driving Type
A: AC Servo Motor
Series
Rated Output Power
Rated Voltage / Rated Speed
C: 220V / 3000 r/min
E: 220V / 2000 r/min
F: 220V / 1500 r/min
G: 220V / 1000 r/min
J: 400V / 3000 r/min
K: 400V / 2000 r/min
L: 400V / 1500 r/min
M: 400V / 1000 r/min
Motor Frame Size
Encoder Type
1: Incremental encoder, 20-bit
2: Incremental encoder, 17-bit
3: 2500 ppr
A: Absolute encoder,
Single-turn: 17-bit
Multi-turn: 16-bit
04: 40 mm
06: 60 mm
08: 80 mm
09: 86 mm
10: 100 mm
13: 130 mm
18: 180 mm
22: 220 mm
6
0F: 50 W
01: 100 W
02: 200 W
03: 300 W
04: 400 W
05: 500 W
06: 600 W
07: 750 W
08: 850 W
09: 900 W
10: 1 kW
13: 1.3 kW
15: 1.5 kW
18: 1.8 kW
20: 2 kW
30: 3 kW
35: 3.5 kW
45: 4.5 kW
50: 5.0 kW
55: 5.5 kW
75: 7.5 kW
1B: 11 kW
1F: 15 kW
Features of ECMA Series
Servo Motors
High Efficiency Permanent Magnetic Motors
220 V series:
►► Rated power from 50 W to 15 kW.
►►
Frame size: 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm,
180 mm, and 220 mm.
►►
Motor maximun speed up to 5000 r/min.
►►
Output torque: 0.477 N-m ~ 224 N-m.
400 V series:
►► Rated power from 400 W to 7.5 kW.
►►
Frame size: 60 mm, 80 mm, 86mm, 100mm, 130 mm, 180 mm.
►►
Motor maximun speed up to 5000 r/min.
►►
Output torque: 3.82 N-m ~ 119.36 N-m.
7
ASDA-B2
Series
Features
Implements High Precision Positioning Control
►►
High-resolution encoder with 17-bit is a standard feature which satisfies application needs for high
precision positioning control and stable rotation at low speed.
►►
New 17-bit resolution encoder can reduce cogging torque to enhance the precision of the motor.
Satisfies a Variety of Demands in the Industry
►►
Built-in position, speed and torque - three control modes (speed and
torque mode can be controlled via internal parameters or analog voltage
command).
►►
Provides pulse input (up to 4 Mpps) and analog voltage commands.
►►
Two vibration suppression filters are provided for the long
arm mechanism to settle down with less vibration.
►►
Two auto-notch filters and one manual notch filter are
equipped to prevent resonance effects on the machine.
►►
Friction compensation and motor protection functions are
available to reinforce the system.
Offers Easy-To-Install Solution For Simple Start-Up
Power of control
circuit and main
power circuit is
separated.
►►
The same power and encoder cables as the ASDA
series. Easy to set up and no extra accessories.
►►
Servo motor provides brake, oil seal, and more, with
optional configurations for the requirements of different
applications.
►►
The control circuit and main power circuit are
separated, safety is increased and maintenance is
much easier.
►►
400 W and above servo drives have a built-in
regenerative resistor, for significant savings on wiring
and cost.
Built-in regenerative resistor
8
Model Explanation
ASDA-B2 Series Servo Drives
ASD - B2 - 04 21 - B
Type
B : Standard
F : DMCNET
Product Name : AC Servo Drive
Input Voltage and Phase
21 : 220V 1-phase / 3-phase
23 : 220V 3-phase
Series
B2 : B2 series
Rated Output Power
01 : 100 W 10 : 1 kW
02 : 200 W 15 : 1.5 kW
04 : 400 W 20 : 2 kW
07 : 750 W 30 : 3 kW
ECMA Series Servo Motors
ECM
A - C2 06 02
S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM : Electrical Commutation Motor
Driving Type
A : AC Servo Motor
Series
Rated Voltage / Rated Speed
C : 220V / 3000 r/min
E : 220V / 2000 r/min
F : 220V / 1500 r/min
G : 220V / 1000 r/min
Encoder Type
1 : Incremental encoder, 20-bit
2 : Incremental encoder, 17-bit
E
Motor Frame Size
04 : 40 mm 10 : 100 mm
06 : 60 mm 13 : 130 mm
08 : 80 mm 18 : 180 mm
09 : 86 mm
9
Type of Shaft
Diameter and
Oil Seal
w/o Brake
w/o 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
01 : 100 W
08 : 800 W
02 : 200 W
09 : 900 W
03 : 300 W
10 : 1 kW
04 : 400 W
15 : 1.5 kW
05 : 500 W
20 : 2 kW
06 : 600 W
30 : 3 kW
07 : 750 W
35 : 3.5 kW
With Brake
w/o Brake
With Brake
w/o Oil Seal With Oil Seal With Oil Seal
ASDA-M
Series
USB Connection Port for direct
connection to personal computers
or notebooks
ASDA-M Series
Servo System
HMC Series
Human Machine Interface & Controller
Real Time I/O
(18 Inputs / 9 Outputs)
Supports DMCNET
Communication
Protocol
ASDA-A2 Series Servo Drives
ASD-A2-*-F
Z-Axis
Y-Axis
DMCNET High-Speed
Motion Control
X-Axis
32DI / 32DO
or
16DI / 16DO
4-Channel
16-bit D/A
or
4-Channel
16-bit 4 A/D
4-Channel
Pulse
Interface
Features
Real Time, Reliable and High-Speed
Motion Control Network
Highly Integrated System
►►
Built-in motion control functions.
►►
Multi-axis synchronous interpolation.
►►
Advanced gantry control.
►►
Flexible electronic cam (E-Cam) function.
►►
High-speed frequency response.
►►
Excellent vibration and resonance suppression
functions.
►►
High-precision full-closed control.
►►
Versatile PR mode.
►►
Real time Capture and Compare functions.
►►
Supports DMCNET and CANopen
communication protocols.
►►
With the aid of Delta's Human Machine
Controller (HMC), it can establish an
integrated system configuration by DMCNET.
►►
Supports DMCNET interface for I/O extension
modules.
High Precision, High Performance
Servo Motors
►►
Supports incremental type and absolute type
encoders.
►►
Incremental type encoder provides up to
1,280,000 p/rev resolution for high-precision
positioning.
New PC Software Functions
►►
ASDA-Soft provides built-in contour analysis
function.
►►
Real Time I/O (18 Inputs / 9 Outputs).
10
Features (cont.)
Z
Z
Multi-axis Synchronous Interpolation
►►
►►
Various kinds of interpolation functions
maximize the motion control performance
of the ASDA-M series.
Interpolation commands are built into the
ASDA-M series servo drive to offer high
synchronous control accuracy.
3-Axis Helical
Interpolation
X
3-Axis Linear
Interpolation
Y
X
Y
Y
Y
2-Axis Arc
Interpolation
2-Axis Linear
Interpolation
X
Advanced Gantry Control Servo
Plenty of data can be exchanged in real
time among 3 axes without any time delay.
This greatly increases the efficiency and
performance of gantry control. In rigid or
general mechanical systems, no matter if the
loading on multiple axes is equal or not, the
ASDA-M series can perform precise motion
control and drive each axis simultaneously.
X
Same DSP, Real Time,
Excellent Synchronous Control
Position, Speed and Torque
commands are exchanged
between Axis 1 and Axis 2 every
62μs (16kHz)
Axis 1
Axis 2
Gantry Control
DMCNET Communication
►►
Up to 10 Mbps communication bandwidth is provided. It is capable of controlling up to 12 servo
system units.
►►
In the DMCNET networking structure, the ASDA-M acts as a master and supports high-speed
DMCNET to extend connection with more devices and control the whole system more effectively.
►►
Capable of connecting to various remote
extension modules such as I/O modules,
AD/DA modules, the 04PI module and servo
drives.
►►
Provides a 3-axis
synchronous motion control
system with performance
better than comparable three
servo drives.
Provides a motion commands
editing environment
USB Port
ASDA-M Series
ASDA-A2 Series Servo System
Z-Axis
Y-Axis
11
X-Axis
DMCNET High-Speed
Motion Control
32DI / 32DO
or
16DI / 16DO
4-Channel
16-bit D/A
or
4-Channel
16-bit 4 A/D
4-Channel
Pulse
Interface
Model Explanation
ASDA-M Series Servo Drives
21 - L
ASD - M - 07
Model Type
(see the table below)
Product Name: AC Servo Drive
Input Voltage and Phase
21 : 220V 1-phase
23 : 220V 3-phase
Series : M
Rated Output Power
07 : 750 W
15 : 1.5 kW
Model Type
Type
RS-485
(CN3)
Full-Closed
Control (CN5)
DMCNET
PR Parameters
E-Cam
Standard Type
L
○
○
X
○
○
Network Type
F
○
○
○
○
○
ECMA Series Servo Motors
ECM A - C1 06 02
E
S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical
Commutation Motor
W/O
Brake
With
Brake
W/O
Brake
With
Brake
W/O Oil
Seal
W/O Oil
Seal
With
Oil Seal
With
Oil Seal
Round Shaft
(with screw hole)
-
-
C
D
Keyway
E
F
-
-
Keyway (with
screw hole)
P
Q
R
S
Shaft Type and
Oil Seal
Driving Type
A: AC Servo Motor
Series
Rated Output Power
Rated Voltage / Rated Speed
C: 220V / 3000 r/min
E: 220V / 2000 r/min
F: 220V / 1500 r/min
G: 220V / 1000 r/min
J: 400V / 3000 r/min
K: 400V / 2000 r/min
L: 400V / 1500 r/min
M: 400V / 1000 r/min
Motor Frame Size
Encoder Type
1: Incremental encoder, 20-bit
2: Incremental encoder, 17-bit
3: 2500 ppr
A: Absolute encoder,
Single-turn: 17-bit
Multi-turn: 16-bit
04: 40 mm
06: 60 mm
08: 80 mm
09: 86 mm
10: 100 mm
13: 130 mm
18: 180 mm
22: 220 mm
12
0F: 50 W
01: 100 W
02: 200 W
03: 300 W
04: 400 W
05: 500 W
06: 600 W
07: 750 W
08: 850 W
09: 900 W
10: 1 kW
13: 1.3 kW
15: 1.5 kW
18: 1.8 kW
20: 2 kW
30: 3 kW
35: 3.5 kW
45: 4.5 kW
50: 5.0 kW
55: 5.5 kW
75: 7.5 kW
1B: 11 kW
1F: 15 kW
ASDA-A2R
Series
ASDA-A2R Series Features
DT3
System Operation with High Flexibility:
Connecting Various Kinds of Linear Motors and Servo Motors
►►
Support for Delta's permanent-magnet synchronous linear motors
and servo (rotary) motors.
►►
Support for other brands of permanent-magnet synchronous
linear motors and servo (rotary) motors.
For different feedback configurations, please refer to the following recommended wiring
methods for connecting the ASDA-A2R series servo drive.
1. Using Delta's ECMA
series servo motor.
2. When not using Delta's servo motor
3. When not using Delta's servo motor and
and if the encoder signals are sine
if the encoder signals are square wave,
wave, the sine wave can be converted
the square wave can be converted into
into communication signals by Delta's
communication signals directly through
Signal Converter Box through the CN2
the CN5 connector for the use of Delta’s
connector for the use of Delta’s
ASDA-A2R servo system.
ASDA-A2R servo system.
CN5 Connector
Full-Closed Loop Control
Interface (Delta Optional Part)
CN2 Connector
Motor Encoder
Interface
CN2 Connector
Motor Encoder
Interface
Signal Converter Box
Delta's Servo Motor
Servo Motors on the Market
or other Permanent-Magnet
Synchronous Motors
13
Servo Motors on the Market
or other Permanent-Magnet
Synchronous Motors
4. When using the linear motor with a linear scale
5. When using the linear motor with a linear scale and
and if the encoder signals are sine wave, the sine
if the encoder signals are square wave, the square
wave can be converted into communication signals
wave can be converted into communication signals
by Delta's Signal Converter Box through the CN2
directly through the CN5 connector for the use of
connector for the use of Delta’s ASDA-A2R servo
Delta’s ASDA-A2R servo system. In addition, when
system.
a Hall Sensor is included and placed in-between,
the signal can be transmitted via CN5 connector and
controlled.
CN5 Connector
Full-Closed Loop Control
Interface (Delta Optional Part)
CN2 Connector
Motor Encoder
Interface
Linear Scale and
Hall Sensor
Signal
Converter Box
Hall
Sensor
Signal Converter Box
Linear Scale
Permanent-Magnet
Synchronous Linear Motors
Satisfying Customers' High Speed
Communication Requirements:
The ASD-IF-EN0A20 Signal Converter Box (Optional)
►►
Converts the square wave and sine wave tocommunication signals
that can be used and controlled by Delta’s servo drive.
►►
Supports AB phase square waves of digital signals and sine waves of
analog signals.
►►
Divides signals up to 2,048 times for accurate signaltransmission and
enhanced positioning resolution.
►►
Delivers original signals over 20m without attenuation to ensure
communication quality.
14
ASDA-A2R Series Features
Simple Setup Procedures Make Motor Connection Quick and Effortless
►►
Easy-to-operate and step-by-step procedures help users quickly complete motor setup and
connection.
Excellent Suppression Functions
Intelligent Motor Parameter
Measuring and Tuning
►►
Detects related electrical circuit parameters
such as motor inductance and resistance.
►►
Provides motor current loop parameters for
motor auto-tuning.
►►
Measures initial conditions on the magnetic
field amplification and corrects phase
sequence and deviation values of a Hall
sensor unit.
►►
Detects and offsets the phase sequence of the
motor's U, V, W terminals.
►►
Vibration Suppression (Low Frequency):
Vibration suppression filters are provided for long
arm systems to minimize vibration at the machine
edges effectively.
►►
Resonance Suppression (High Frequency):
Auto notch filters are provided to suppress
mechanical resonance efficiently.
Accurate Positioning and Initiation
without a Hall Sensor
15
►►
Keeps high positioning accuracy and reliability
while the motor is running without connecting a
Hall sensor unit.
►►
Detects the angle of a motor magnet by finesensing to ensure that magnetic field lines are
passing at right angles at power-on.
Detection and Compensation
of Motor Cogging Force
After the generated cogging force is
reduced, the operation of the motor is
more smooth and stable.
700
POS ERR (um)
►►
900
600
500
Disabling
compensation
of cogging force
400
300
200
100
0
0
0.5
16
1
1.5
Time (sec)
2
2.5
3
Enabling
compensation
of cogging force
Model Explanation
ASDA-A2R Series Servo Drive
ASD - A2R - 01
21 - U
Model Type
(see the table below)
Product Name : AC Servo Drive
Input Voltage and Phase
21 : 220V 1-phase
23 : 220V 3-phase
Series : A2R
Rated Output Power
01 : 100 W
15 : 1.5 kW
02 : 200 W
20 : 2 kW
04 : 400 W
30 : 3 kW
07 : 750 W
10 : 1 kW
Model Type
Standard
Type
Network
Type
Type
RS-485
(CN3)
Extension
Full-Closed
Port for
EtherCAT
Control
Digital Input
(CN5)*1
(CN7)
CANopen
DMCNET
Analog
Voltage
Control
Pulse
Input
Port
PR
Parameters*2
E-Cam*3
L
○
○
X
X
X
X
○
○
○
X
U
○
○
○
X
X
X
○
○
○
○
F
○
○
X
X
X
○
X
X
○
X
○
○
X
X
○
X
○
○
○
○
M
NOTE
1. In PR mode, only A2R-F supports full-closed control function.
2. PR parameters can be read and written through communication by DMCNET only.
3. E-Cam function can only be used in PR mode.
17
Motor Features
ECMA
ECMA series servo motors are permanent-magnet AC servo motors, capable of combining with 200V to
230V ASDA-A2R series AC servo drives from 50 W to 3.5 kW. There are seven frame sizes available:
for ASDA-A2E series 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm and 180 mm. The motor speed
is from 1000 r/min to 5000 r/min and maximum torque range is between 0.477 N-m to 57.29 N-m.
For optional configurations, the ECMA series provides brake and oil seal models to fully support
customer needs. It also offers two different shaft selections, round shaft and keyway, for various
applications.
ECML
ECML series linear motors are permanent-magnet synchronous linear motors which feature:
- Built-in digital hall sensor: When a ECML motor is re-servo on, it can find the phase angle without
moving.
- Built-in temperature sensor: A thermistor type of temperature sensor is installed inside the ECML
motor. Users can acquire the motor’s internal temperature by servo drive or ohmmeter.
- Coil assembly has two sides of mounting holes: This allows users to have more flexibility and
expandability for device installation.
18
Model Explanation
ECMA Series Servo Motor
ECM A - C1 06 02
E
S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical
Commutation Motor
W/O
Brake
With
Brake
W/O
Brake
With
Brake
W/O Oil
Seal
W/O Oil
Seal
With
Oil Seal
With
Oil Seal
Round Shaft
(with screw hole)
-
-
C
D
Keyway
E
F
-
-
Keyway (with
screw hole)
P
Q
R
S
Shaft Type and
Oil Seal
Driving Type
A: AC Servo Motor
Series
Rated Voltage / Rated Speed
C: 220V / 3000 r/min
E: 220V / 2000 r/min
F: 220V / 1500 r/min
G: 220V / 1000 r/min
Encoder Type
1: Incremental encoder, 20-bit
2: Incremental encoder, 17-bit
J: 400V / 3000 r/min
K: 400V / 2000 r/min
L: 400V / 1500 r/min
M: 400V / 1000 r/min
Rated Output Power
Motor Frame Size
04: 40 mm
06: 60 mm
08: 80 mm
09: 86 mm
10: 100 mm
13: 130 mm
18: 180 mm
19
0F: 50 W
01: 100 W
02: 200 W
03: 300 W
04: 400 W
05: 500 W
06: 600 W
07: 750 W
08: 850 W
09: 900 W
10: 1 kW
13: 1.3 kW
15: 1.5 kW
18: 1.8 kW
20: 2 kW
30: 3 kW
35: 3.5 kW
ECML Series Linear Motor - Coil Assembly
ECML - S 1608 A 2 D N S
1
1
ECML
Product Name
S
Name of the Series
Linear Motor Type
2
3
1608
Specifications
3
A
Wiring Method
4
2
Input Voltage
5
D
Hall Sensor Type
6
N
Cooling Type
7
S
5
6
S: Shaft Type Coreless
Number of Coil Sets
Ø16
Ø20
Ø25
Ø32
1606
2003
2504
3204
1608
2004
2506
3206
2005
2508
3208
A: Wiring Method A
2: 220V
D: Digital
N: N/A
Customized options Delta Standard Product
ECML Series Linear Motor - Magnetic Way
ECML - SM 16 1000 S
1
2
3
ECML
Product Name
1
SM
Name of the Series
Linear Motor Type
2
16
Magnetic Way
Dimensions
16: Ø16 mm
25: Ø25 mm
20: Ø20 mm
32: Ø32 mm
1000
Total Length of
Magnetic Way
Range:
0340 : 340 mm
250~2310 mm
0520 : 520 mm
ECML : Electronic Commutation Motor
S: Shaft Type Coreless
M: Magnetic Way
Examples:
3
1060 : 1060 mm
4
S
7
ECM: Electronic Commutation Motor
Magnetic Way
Dimensions(mm)
2
4
Customized options Delta Standard Product
20
4
ASDA-Soft
ASDA-Soft Configuration
Software
Capture / Compare
■ Strong Capture and Compare functions for
position latch and detection help you complete
system configuration quickly.
Electronic Cam (E-Cam)
■ User-friendly E-Cam editing interface is provided for
designing E-Cam outlines and curves freely. In addition,
quick settings for flying shear and rotary cut applications
are offered .
Scope
■ 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.
21
PR Mode
■ Easy-to-use editing interface is designed for the
new and enhanced PR control mode. Homing, pointto-point and other motion control functions for multiaxis positioning control are easily achieved.
Alarm
■ Convenient alarm display function is capable of troubleshooting
the system easily and recommending timely corrective actions .
Parameter
■ Multi-functional parameter editor lets you read back
all of the parameters of the servo drive to a PC, and
then write all of the parameters set in the PC into the
servo drive. It also allows you to display, edit, change,
compare and print the setting values of specific
parameters.
22
PAC
Solution
Programmable Automation Controller (PAC)
MH1-Series
A Perfect Balance of EtherCAT Fieldbus and High-Performance Motion Control
►► Robust
Hardware: Up to Intel i7 Quad Core 2.1 GHz processor, built-in USB and CFast Card slots,
cable-less and fan-less design for increased reliability and low power consumption
►► Stable
Storage: Easy installation of large-capacity SATA hard disk for easy maintenance
and data management
►► Integrated
Control: Perfect integration of motion control and logic programming control
enables better synchronization with EtherCAT communication
►► Multiple
Communication Interfaces: 1 COM port, 2 giga Ethernet ports and 2 DMCNET
communication ports for fast and convenient data transmission
►► Flexible
Extension Interfaces: 2 PCI or 1 PCle extension slots for more flexible applications
►► EtherCAT
Master Port: Up to 4 kHz synchronous cycle time for multi-axis control and automation
►► Easy
Setting: Control of the slave modules and servo systems are simple with easy to understand key operation
►► High
Security: Customizable IC device for secured confidential programming protection
Motion
▪ Built-in EherCAT and DMCNET master
▪ Enables up to 64 axes of control via EtherCAT
or up to 12 axes of servo system units via
DMCNET
▪ Connects max. 100 units of EtherCAT slave
modules or 24 units of DMCNET slave
modules
▪ Electronic Cam (E-Cam) function
▪ Linear, Arc, Helical and high-speed continuous
interpolation
Software
►► EtherCAT Automation
Software: EcNAVI development software is for
configuring an EtherCAT network that includes an EtherCAT master
controller and slave devices for data communication, functional identification,
programming and debugging
▪ Optional Soft HMI functions
▪ Optional CNC control functions
▪ Optional robot arm control functions
▪ Optional IEC61131 PLC functions
Ordering Information
Model Explanation - MH1 Series
Product Name:
Motion Control Hub 1st Generation
M H 1 - S 3 0 D - A 1 1 D 0
Version:
D0 = Standard Version
DRAM & Micro-SD Card Options:
CPU Information:
S30 = VIA Nano X2 Dual Core 1.2GHz
A12 = Intel Atom E3845 Quad Core 1.91GHz
C50 = Intel Core i5-3610ME Dual Core 2.7GHz
C70 = Intel Core i7-3612QE Quad Core 2.1GHz
0
1
CFast
SSD
4GB
4GB
CFast Card & SSD Card Options:
Extension Interface:
D = DMCNET
E = EtherCAT
G = Giga LAN
DRAM
Extension Slot Interface:
0 = No Extension Slot
A = 2 PCI slots
B = 2 PCIe slots x1 + x1
C = 2 PCIe slots x4 + x1
23
micro-SD
0
-
-
1
4GB
4GB
PAC Selection Guide
Specifications - MH1 Series
Model Name
MH1-S30D
VIA Nano X2
Dual Core
1.2GHz
VIA VX900
Processor
System Chipset
MRAM
BIOS
System
1 x DDR3-1066
Memory
Max. up to 8 GB
2048x1536 /
Display Interface
CRT
75Hz
Processor
System
MH1-A12D
Digital Input
I/O Interface
Digital Output
Encoder Input
Compare
Output
Expansion
CFast card
Storage
Micro-SD card
eMMC
Solid State Disk
Input Voltage
Power
Requirements
Input Type
Certification
Safety
Dimensions (W x H x D)
Operation Temperature
Weight
Software Support
MH1-C50D
MH1-C50E
Intel Core i5-3610ME Dual Core
2.7GHz
x
MH1-C70D
MH1-C70E
Intel Core i7-3612QE Quad Core
2.1GHz
Intel QM77
DDR3L-1333
4 GB, supports ECC
128KB
AMI BIOS
2 x DDR3-1600
Max. up to 16 GB, supports ECC
2560x1600 / 60Hz
Ethernet
DMCNET
EtherCAT
USB
Serial Port
MH1-A12E
Intel Atom E3845 Quad Core
1.91GHz
2048x1536 / 75Hz
2 x IEEE 802.3/802.3u/802.3ab 1Gbps
√
x
√
x
x
√
√
x
√
x
√
x
4 x USB 2.0
1 x RS-232 (Hardware auto flow control)
1-CH isolated,
1-CH isolated,
1-CH isolated,
x
24VDC Sink
x
24VDC Sink
x
24VDC Sink
(5mA/CH)
(5mA/CH)
(5mA/CH)
1-CH isolated,
1-CH isolated,
1-CH isolated,
x
24VDC Sink
x
24VDC Sink
x
24VDC Sink
(10mA/CH)
(10mA/CH)
(10mA/CH)
4-CH isolated,
4-CH isolated,
4-CH isolated,
x
x
x
QEP±
QEP±
QEP±
2-CH isolated,
2-CH isolated,
2-CH isolated,
x
x
x
CMP±
CMP±
CMP±
[2 x PCI slot] x1
[2 x PCI slot]
2 x PCI slot
[2 x PCIe slot]x1
[2 x PCIe slot]x1
2 x PCIe slotx1
[1 x PCIe slot] x4 + [1 x PCIe slot] x1
1 x CFast Cat (optional)
1 x Micro-SD
x
x
x
x
x
card (optional)
x
1 x eMMC (optional)
x
x
x
1 x 2.5" SATA SSD (optional)
DC12~30V±10%
ATX
CE
127 x 175 x 250 mm (5”x6.89”x9.85”)
0°C ~50°C
4.7 Kg
Windows 7.0,
Windows 7.0, Windows 7
Windows XP/7
Windows 7.0, Windows XP/7 Embedded, RTX
Embedded, RTX
Embedded, RTX
■■ Centralized Slave Modules
■■ Bus Adapter Type Module
R1-EC5500
■■ Motion Type Module
R1-EC5621
EtherCAT to E-BUS power module
■■ Digital Input Type Module
Single-axis pulse output motion control module,
suitable for stepping and servo-based systems
■■ Digital Output Type Module
R1-EC6022
R1-EC7062
16 digital inputs, sink / source type
The available models are listed below for
different response-time requirements:
- R1-EC6002: < 0.1ms
- R1-EC6022: 2ms
■■ ADC Type Module
16 digital outputs, sink type
Max. output current: 0.5A per each port
■■ DAC Type Module
R1-EC8124
R1-EC9144
4 channels 16-bit single-ended A/D control module Input filter
limit frequency: 10 kHz
Signal voltage: ±5V, ±10V
4 channels 16-bit D/A control module
Voltage output: ±5V, ±10V, 0 ~ 5V, 0 ~ 10V
Current output: 0 ~ 20 mA, 4 ~ 24 mA, 0 ~ 24 mA
24
x
√
x
x
x
x
x
x
HMC
Series
Field Applications
Mold Opening Signals of
Injection Molding Machine
Cartesian Robotic Arms
HMC Series
Signals of Defective Products
High-speed RS-422
10Mbps High-speed
Communication
General Digital I/O
ASDA-M Series
(ASD-M_xxx-F)
Signals of Vacuum Switch
Clamp Switch
Alarm Output
X-Axis
Y-Axis
Z-Axis
ECMA Series Servo Motors
Features
Powerful Dual Processors
The HMC is equipped with two high-speed CPUs.
One CPU is for the operation of the human machine interface.
The other is a DSP (Digital Signal Processor) that serves
as a motion processor for sequence control, which
guarantees no worries for execution efficiency and the
performance of the system when running large and
complicated PLC programs. The HMC is capable of
controlling up to 4 major PLC tasks synchronously.
DOPSoft, HMI Screen Editor & PLC Programming Software
DOPSoft provides a direct editing
environment for fast and effective
HMI screen editing and PLC
programming which simplifies the
design time and minimizes the cost.
25
Quick PLC Ladder Monitoring
PLC ladder programs and registers
can be monitored and changed in
real time on a PC to greatly reduce
the verification and debug time via
Ethernet and USB.
Ethernet / USB
Built-in PLC ladder monitor devices allow users to display programs in real time and confirm
machine operations without using a PC.
Direct Remote I/O Connection
I/O points are placed in the
rear of the panel. Wiring and
connection are complicated.
Direct remote I/O connection
provides simple and effortless
wiring. Only one communication
cable is needed to complete I/O
connection.
Model Explanation
H M C 0 7 - N 5 11 H 5 2
Peripheral Interface
0 : None
2 : SD + USB
Product Name
HMC : HMI with Controller
External Control Interface (Bus)
0 : None
5 : DMCNET
LCM Size
07 : 7 inch TFT LCD
08 : 8 inch TFT LCD
Type of Model
H : Hand-held
S : Standard
Type of Industries
N : General Purpose
Display Specification
4 : WVGA TFT
5 : SVGA TFT
6 : WXGA
Version
10 : up to 4 axes of control
11 : up to 12 axes of control
26
PS
Series
Planetary Gearbox PS High Precision S
The PS Series Planetary Gearbox features many advantages such as low noise, h
smoothly transfer power from motor to applications and is widely applied to various
industrial robot, medical device and precision measurement.
Helical Gear Design
The speed reduction mechanism employs helical gears,
which doubles the tooth mesh rate when compared with
regular spur gears. ln addition, it also features extremely
smooth running, low noise, high torque output and low
backlash.
Synthetic Lubrication Grease
The protective class IP65 seals design
avoids leakage problems and requires
no maintenance.
Integrated Planetary Arm Bracket
The planetary arm bracket and the output
shaft are constructed as one-piece to
increase torsional rigidity and accuracy.
The entire structure is one-time machined
for controlling accuracy in the specified
tolerance.
One-piece Gearbox & Advanced
Surface Treatment
The gearbox and internal gear ring are
constructed as one-piece. High gear accuracy
meets the DIN6 class standard. Gearbox
surface is anticorrosive treated to enhance
environment resistance and corrosion resistance
capabilities.
27
Series
high output torque and low backlash. It is able to
s industries including aerospace, semiconductor,
Full Needle Roller Bearings Design
The planetary gear transmission employs full needle
roller bearings without retainer to increase the
contact surface, which greatly enhances structural
rigidity and service life.
High Precision Gear Machining
The planetary gear and sun gear are
made from high quality Ni-Cr-Mo alloy
steel (SNCM220), precision machined and
carburized to hardness 57-60 HRC. Precision
teeth grinding assures gear accuracy reaches
DIN6 class. It provides better wear resistance,
impact resistance and longer service life than
gears that are only surface nitrided.
Collet Locking Mechanism
The input-end and the motor are
coupled through a collet locking
meshanism. It has passed dynamical
balance analysis to assure concentricity
and balance for the connection and no
backlash for power transmission while
running at high speed.
Modular Design of Motor Connection Plate
The special modular design of the motor
connection plate is made by an aluminum
alloy that is suitable for all series of Delta
servomotor.
28
Features
The Delta Planetary Gearbox is made with high-tech design software, high-precision gear hobbing
machine and comprehensive quality control to ensure that it provides high accuracy gear engagement,
smooth running and minimum noise.
►►High
Stability
Employs high tensile strength alloy steel. The gear is made using a vacuum carburizing process to enable both core
and surface hardness, which extends gear service life and maintains high precision after long periods operation.
►►High
Precision
Backlash for concentric 1-stage gearbox is under 3 arcmin.
Backlash for right angle 1-stage gearbox is under 4 arcmin.
►►High
Input Speed
Input speed allows for 5,000 RPM.
►►High
Torque
Higher output torque is in comparison with spur gearbox.
►►High
Efficiency
Efficiency for 1-stage model exceeds 97%.
2-stage model exceeds 94%.
►►Low
Noise
Under 65dB.
►►Lifetime
Lubrication
The protective class IP65 seals design avoids leakage problems and requires no maintenance during the product life
time.
Model Explanation
P
S
062
-
C
010
3
B1430
Motor Interface Code:
Product Name:
B1430: F60/PCDΦ70/output shaft diameter Φ14/
output shaft length 30mm
Planetary Gearbox
C1430: F80/PCDΦ90/output shaft diameter Φ14/
output shaft length 30mm
C1935: F80/PCDΦ90/output shaft diameter Φ19/
output shaft length 35mm
Series:
PS
E2255: F130/PCDΦ145/output shaft diameter Φ22/
output shaft length 55mm
E2455: F130/PCDΦ145/output shaft diameter Φ24/
output shaft length 55mm
Output Flange Dimensions:
062:62mm
090:90mm
120:120mm
142:142mm
F3579: F180/PCDΦ200/output shaft diameter Φ35/
output shaft length 79mm
Model Type:
C: Concentric (1-stage)
A: Concentric (2-stage)
R: Right Angle (1-stage)
L: Right Angle (2-stage)
Ratio:
5:1/5
10:1/10
20:1/20
30:1/30
29
Backlash Class:
3: 3 arcmin
4: 4 arcmin
5: 5 arcmin
7: 7 arcmin
Compatible Motor Table
Type
Motor Frame
Code
Power Rating
Output Shaft
Diameter (S) &
Length (LR) (mm)
Stage
Ratio
Concentric
F60
200 W, 400 W
Φ14 / 30
1-stage
5, 10
3
PS062-CxxxxB1430
Concentric
F80
400 W, 750 W
Φ14 / 30
1-stage
5, 10
3
PS090-CxxxxC1430
Concentric
F80
750 W
Φ19 / 35
1-stage
5, 10
3
PS090-CxxxxC1935
Concentric
F130
300 W, 500 W, 600 W,
800 W, 900 W
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW
Φ22 / 55
1-stage
5, 10
3
PS120-CxxxxE2255
Concentric
F130
3 kW
Φ24 / 55
1-stage
5, 10
3
PS120-CxxxxE2455
Concentric
F180
2 kW, 3 kW, 3.5 kW,
4.5 kW
Φ35 / 79
1-stage
5, 10
3
PS142-CxxxxF3579
Concentric
F60
200 W, 400 W
Φ14 / 30
2-stage
20,30
5
PS062-AxxxxB1430
Concentric
F80
400 W, 750 W
Φ14 / 30
2-stage
20,30
5
PS090-AxxxxC1430
Concentric
F80
750 W
Φ19 / 35
2-stage
20,30
5
PS090-AxxxxC1935
Concentric
F130
300 W, 500 W, 600 W,
800 W, 900 W
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW
Φ22 / 55
2-stage
20,30
5
PS120-AxxxxE2255
Concentric
F130
3kW
Φ24 / 55
2-stage
20,30
5
PS120-AxxxxE2455
Right-angle
F60
200 W, 400 W
Φ14 / 30
1-stage
5, 10
4
PS062-RxxxxB1430
Right-angle
F80
400 W, 750 W
Φ14 / 30
1-stage
5, 10
4
PS090-RxxxxC1430
Right-angle
F80
750 W
Φ19 / 35
1-stage
5, 10
4
PS090-RxxxxC1935
Right-angle
F130
300 W, 500 W, 600 W,
800 W, 900 W
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW
Φ22 / 55
1-stage
5, 10
4
PS120-RxxxxE2255
Right-angle
F130
3 kW
Φ24 / 55
1-stage
5, 10
4
PS120-RxxxxE2455
Right-angle
F180
2 kW, 3 kW, 3.5 kW,
4.5 kW
Φ35 / 79
1-stage
5, 10
4
PS142-RxxxxF3579
Right-angle
F60
200 W, 400 W
Φ14 / 30
2-stage
20,30
7
PS062-LxxxxB1430
Right-angle
F80
400 W, 750 W
Φ14 / 30
2-stage
20,30
7
PS090-LxxxxC1430
Right-angle
F80
750 W
Φ19 / 35
2-stage
20,30
7
PS090-LxxxxC1935
Right-angle
F130
300 W, 500 W, 600 W,
800 W, 900 W
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW
Φ22 / 55
2-stage
20,30
7
PS120-LxxxxE2255
Right-angle
F130
3 kW
Φ24 / 55
2-stage
20,30
7
PS120-LxxxxE2455
30
Compatible
Backlash
Class Gearbox Model No.
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL: 31-40-2592850 / FAX: 31-40-2592851
*We reserve the right to change the information in this catalogue without prior notice.
Delta_SPS_Motion Control Solution_C_EN_20150910
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