Delta Robot Controller with Servo Drive Integrated ASDA

Delta Robot Controller with Servo Drive Integrated ASDA
Automation for a Changing World
Delta Robot Controller with
Servo Drive Integrated
ASDA-MS Series
www.deltaww.com
System Configuration
Complete Robot Solution
■ Supports the PLCopen motion function block
■ Up to 10 axes motion control:
4-axis robot + 6 external axes
■ Offers DRL Languages for developing robot
■ Supports various communication interfaces
application programs
■ Supports G-code programming for path
■ Built-in diverse robot control modules
planning
■ Supports IEC 61131-3 standard for five kinds
of programming languages
Users
Handheld Type HMI
DOP-H
Robot
PC Software
PAD
Ethernet
DELTA Robot
External Axes
ASDA-MS
AC Servo Drives & Motors
ASDA-M-F
ASDA-A2-F
DMCNET
SCARA Robot
ECMA
ECMA
1
All-in-One Robot Controller
■ Integrates robot controller, motion controller and servo drive in one single unit with high flexibility
and reliability
■ Timely exchange of information for the controller and servo drive for real-time motion control
■ Enhances system control performance and dynamically compensates non-linear terms that affect
robot motion during robot moving processes
■ High cost-performance ratio for reduced system costs and more application flexibility
Handheld Type HMI
DOP-H
Control Structure
ASDA-MS
SCARA Robot
Users
Robot
PC Software
Ethernet
PAD
2
Comprehensive Development Platform
■ Supports value-added secondary development and customization work
■ Matched with Delta's industrial automation products and related robot peripheral devices
■ Satisfies the requirements for both single robots and workstation applications
■ Applies to a wide variety of applications and industries
AC Servo Drives & Motors
ASDA-A2 & ECMA
PLC
AH500
ASDA-MS
Machine Vision System
DMV
Robot Controller
SCARA Robot
DELTA Robot
AC Servo Drives & Motors
ASDA-M & ECMA
Handheld Type HMI
DOP-H
Robot Solution
Industry
Electrical/electronics, rubber and plastic, packaging, metal fabrication and others.
Applications
Insertion, screw driving, assembly, glue dispensing, coating, soldering, load and
unload, pick-and-place, stacking, packaging, and inspection
3
DRAS Software (Delta Robot Automation Studio)
DRAS Software provides a variety of user-friendly tools and
helpful functions to make robot and motion control more intuitive
and simple. The DRAS also supports the IEC 61131-3 standard
for five kinds of programming languages, and the PLCopen
motion function block and DRL languages for developing
customized robot application programs to ensure the uniqueness
and completeness of individual systems.
IEC 61131-3 PLC Programming
DRL Programming
Intelligent Robot Calibration
Easy and Simple Robot Teaching
Real-time Monitoring Oscilloscope
即時監控示波器
4
Ordering Information
► ASDA-MS Series Controller
ASD - MS - 0721 - F
Communication
MS Series
F : DMCNET
Rated Output Power,
Input Voltage and Phase
0721 : 750 W ; 220 V 1-phase / 3-phase
1523 : 1.5 kW ; 220 V 3-phase
► ECMA Series Servo Motors
ECM A - C 1 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 Voltage / Rated Speed
C : 220 V / 3000 r/min
E : 220 V / 2000 r/min
G : 220 V / 1000 r/min
Rated Output Power
01:100 W 04:400 W
02:200 W 05:500 W
03:300 W 06:600 W
Encoder Type
1 : Incremental encoder, 20-bit
2 : Incremental encoder, 17-bit
A : Absolute encoder
07:750 W
09:900 W
10:1 kW
Motor Frame Size
04:40 mm
06:60 mm
08:80 mm
09:86 mm
10:100 mm
13:130 mm
18:180 mm
Product Line-up
750 W
1.5kW
Controller
Servo Motors
ASD-MS-0721-F
ECMA-C △ 0401
ECMA-C △ 0602
ECMA-C △ 0604
ECMA-C △ 0804
ECMA-C △ 0807
S(S = 8 mm)
S(S = 14 mm)
S(S = 14 mm)
7(7 = 14 mm)
S(S = 19 mm)
ECMA-C △ 0907
ECMA-E △ 1305
ECMA-G △ 1303
ECMA-G △ 1306
S(S = 16 mm)
S(S = 22 mm)
S(S = 22 mm)
S(S = 22 mm)
ASD-MS-1523-F
ECMA-C △ 0807
ECMA-C △ 0907
ECMA-C △ 0910
ECMA-C △ 1010
S(S = 19 mm)
S(S = 16 mm)
S(S = 16 mm)
S(S = 22 mm)
ECMA-E △ 1310
ECMA-E △ 1315
ECMA-G △ 1309
S(S = 22 mm)
S(S = 22 mm)
S(S = 22 mm)
Note: 1) The boxes ( △ ) in the model names represent encoder type. ( △ =1: Incremental encoder, 20-bit ; △ =2: Incremental encoder, 17-bit)
2) The boxes ( ) in the model names represent shaft end/brake or the number of oil seals.
5
Specifications
750 W (for 4 axes of control)
1.5 kW (for 4 axes of control)
07
15
Phase / Voltage
Three-phase / Single-phase 220 VAC
3-phase 220 VAC
Permissible Voltage Range
1-phase / 3-phase 200 ~ 230 VAC, -15% ~ 10%
3-phase 200 ~ 230 VAC, -15% ~ 10%
ASDA-MS Series
24 VDC, -10%~10%
Control of Main Circuit
Power
Supply
Input Current (3PH)
12.4
24.8
Input Current(1PH)
23.8
44.5
Continuous Output Current
5.1 (for each axis)
8.3 (for each axis)
(Units: Arms)
(Units: Arms)
(Units: Arms)
Dimensions (W) x (H) x (D) mm / Weight
175 mm x 300 mm x 159 mm / 5.6 Kg
Cooling System
Fan Cooling
Encoder Resolution / Feedback Resolution
20-bit (1280000 p/rev)
Control of Main Circuit
SVPWM (Space Vector Pulse Width Modulation) Control
Tuning Modes
Auto / Manual
Regenerative Resistor
Built-in
Programming Languages
IEC61131-3 PLC Language, Delta Robot Language
Motion Control Mode
PTP (Point to Point) Motion, Linear Interpolation, Circular interpolation
Memory Capacity
20 MByte for User Program and Data Memory
16 KByte for PLC SV/DV Variables (Not Retained)
60 KByte for PLC DH Variables (Retained)
1K Points for Global Use
Maximum 32K Points for Every User Program
Standard I/O
User I/O: 24 Inputs, 12 Outputs
System I/O: 8 Inputs, 8 Outputs
Brake Output
4 Outputs
Robot Control
Input / Output
Communication
Interfaces
Ethernet
1 Channel
RS-232 / RS-485
1 Port (One port can switch two communication functions)
DMCNET
1 Channel
USB Host
1 Port
Installation Site
Indoor location (free from direct sunlight), no corrosive liquid and gas
(far away from oil mist, flammable gas, dust)
Altitude
Altitude 1000m or lower above sea level
Atmospheric Pressure
Operating Temperature
86 kPa ~ 106 kPa
Combination of Motors
Maximum Operating
Temperature Limit
750 W × 4
Maximum Operating
Temperature Limit
40 ºC
1.5 kW × 4
30 ºC
750 W × 2
400 W × 2
45 ºC
1.5 kW × 2
750 W × 2
35 ºC
400 W × 4
50 ºC
750 W × 4
40 ºC
55 ºC
750 W × 2
400 W × 2
45 ºC
400 W × 2
200 W × 2
Environment
Combination of Motors
Storage Temperature
-20 ºC ~ 65 ºC
Humidity
0 ~ 90% RH (non-condensing)
2
2
Vibration
9.80665 m/s (1G) less than 20 Hz, 5.88 m/s (0.6G) 20 to 50 Hz
IP Rating
IP20
Power System
TN System*1
IEC/EN 61800-5-1, UL 508C, C-tick
Approvals
*1. TN system: A power distribution system having one point directly earthed, and the exposed conductive parts of the installation are connected to that point by a protective earth conductor.
6
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
18 Xinglong Road, Taoyuan District,
Taoyuan City 33068, Taiwan (R.O.C.)
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, P.R.C. 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. 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
Delta Electronics (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_IA-ASDA_ASDA-MS_C_EN_20160120
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