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
Introduction
Delta is a leading industrial automation brand that continues to provide automated solutions for a
wide range of applications and industries to fulfill customers' demands. Since industrial robots are
considered extremely important fundamental products for industrial automation, Delta's industrial
robot solution combines key products including controllers, AC servo drives, high-speed motion
communication and a general communication interface into a real-time and highly flexible Robot
Controller with Servo Drive Integrated ASDA-MS Series.
Innovative and Integrated Design
The ASDA-MS Series integrates a robot controller and 4 axes of servo drives to perform
mathematical calculations, smooth track planning, and provide loop control in one unit, greatly
enhancing real-time system calculation performance. This design perfectly fulfills the demands of
an industrial robots' complex non-linear system and realizes dynamic compensation to achieve
high-speed and high precision.
Complete Development Platform
The ASDA-MS Series also supports the IEC61131-3 standard's five kinds of programming
language and PLCopen motion function block. It offers Delta Robot Languages (DRL) for robot
application program development, so that customers can develop customized functions and
programs for applications in various industries. In addition, the Series integrates peripheral
devices (such as machine vision systems, sensors, and central computers) through various
communication interfaces, and matches extension axes via high-speed motion BUS such as
MODBUS and MODBUS TCP to build a complete industrial robot solution.
In the competitive global market of industrial robots, Delta offers total professional industrial
robot solutions to fulfill all kinds of market requirements and assist customers in improving their
competitiveness and enhancing customization to provide "Automation for a Changing World".
1
Table of Contents
2
1
Introduction
3
System Configuration
4
Product Features
8
DRAS Software Features
12
Successful Applications
15
Ordering Information
16
Product Line-up
17
Specifications
18
Exterior of the Robot Controller
19
Servo Motor Dimensions and
Specifications
23
Handheld Type HMI DOP-H Series
25
Optional Cable and Connectors
System Configuration
Users
Robot
PC Software
PAD
Handheld TypeHMI
DOP-H
DELTA Robot
ASDA-MS
Ethernet
External Axes
ASDA-M-F
ASDA-A2-F
DMCNET
SCARA Robot
Complete Robot Solution
PC Software with User-Friendly Tools
■ Integrates robot controller, motion controller and
servo drive in one single unit with high flexibility and
reliability
■ IEC 61131-3 PLC programming
■ DRL programming
■ Diverse industrial robot setups
■ Supports communication protocols for fast and
smooth integration with peripheral devices
■ Intelligent robot calibration
■ Real-time monitoring oscilloscope
■ Built-in diverse robot control modules for different
applications
■ Industrial robot operating tools
■ Enhanced flexibility and extension with 4-axis robot
and 6 external axes motion control
■ Supports IEC 61131-3 standard for five kinds of
programming languages and PLCopen motion
function block
■ Offers DRL Languages for developing robot
application programs to fulfill customer demand for
developing specific skill functions
■ Supports G-code programming for path planning
3
Product Features
Electrical Control System Configuration
The system combines the handheld type HMI, robot controller MS Series and 4 AC servo motors.
The ASDA-MS Series integrates motion controller, robot controller and 4 servo drives in one single unit
to speed up data exchange efficiency of communication, enhance system control performance and
dynamically compensate non-linear terms that affect robot motion during robot moving processes. This
integration into one unit satisfies high speed and high precision requirements of robot or motion control
applications.
Control Structure
Handheld Type HMI
DOP-H
ASDA-MS
SCARA Robot
Users
ROBOT
PC Software
Ethernet
PAD
4
Communication Networks for Integrated System Configuration
The ASDA-MS Series provides communication protocols including Ethernet, RS-485/232 for fast
integration with peripheral devices such as PLC, conveyor, DMV and other conveyor lines. In addition,
the Series offers a complete solution for information exchange with a central monitoring PC.
PC
(Central Monitoring)
Ethernet
Conveyor
SCARA Robot
Machine Vision System
(DMV)
Programmable Logic Controller
(PLC)
ASDA-MS
Diverse Robot Control
The ASDA-MS Series supports 4-axis SCARA robots, DELTA and Linear DELTA robots with different
built-in robot modules for customers to quickly implement their required functions on their applications
via basic robot parameters with a corresponding algorithm for high flexibility and convenience.
DELTA Robot
Handheld Type HMI
DOP-H
ASDA-MS
ROBOT
PC Software
Ethernet
SCARA Robot
PAD
5
Comprehensive Development Platform
Customers can apply Delta's DRAS (Delta Robot Automation Studio) which supports the IEC 61131-3
standard for five kinds of programming languages, PLCopen motion function block and DRL (DELTA
Robot Language) for developing customized robot application programs to ensure the uniqueness and
completeness of individual systems.
6
Advanced Motion Control Function
The ASDA-MS Series provide advanced motion control functions including robot motion commands:
point to point, linear and arc. It also supports G-code standard command for CNC and other
applications. The Series provides the best solution and can solve customers' problems with a builtin optimized path control function, for handling handle small path errors, offering fixed feed rate and
reducing path planning inaccuracy.
G-code
G0 X0
G0 X300
G1 X700
G1 X1000
G1 X0
G1 3000
Y0
Y300
Y700
Y1000
Y0
Y4000
Z0
Z500
Z700
Z1000
Z0
Z5000
PC downloads G-Code
DOP-H downloads G-Code
DELTA Robot
SCARA Robot
7
DRAS Software
(Delta Robot Automation Studio)
Customers can apply DRAS Software with IEC
61131-3 standard for five kinds of programming
languages, 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
Supports IEC 61131-3 standard for five kinds of
programming languages and PLCopen motion function
block
■ LD - Ladder Diagram
■ FBD – Function Block Diagram
■ SFC – Sequential Function Chart
■ IL- Instruction List
■ ST – Structured Text
Provides customers with programming tools to execute
techniques and functions for their applications.
DRL Programming
DRL can assist customers with a programming
development base on industry applications to
control industrial robots and data exchange
between peripheral devices.
8
Support Diverse Industrial Robots
DRAS intuitive interface design enables customers to adjust parameters and quickly adjust gear ratio,
reduction ratio, limit value and deviation of robot arm for easier and simple operating procedures.
9
Intelligent Robot Calibration
Focuses on calibrating errors of the actual
device assembly. Customers can operate the
system base on calibration procedure, which
will automatically correct the parameters of
devices to match the actual size and deviation
of the device assembly.
Real-time Monitoring Oscilloscope
Assists customers in monitoring real-time information and the status of the robot arm motion process,
including path planning operation, real-time analysis of system condition and motor controlled
parameters such as position, speed and current of each axis during the motion process for optimized
parameter adjustment.
10
Robot Teaching Function
Customers can operate and instantly record different coordination types, such as geodetic coordinates,
user coordinates and work coordinates for precise robot positioning.
Dynamic Tuning
Provides a convenient dynamic tuning function to adjust parameters of each axis for system optimization.
11
Successful Applications
Robotic Soldering Solutions
■ Robot controller with servo drive integrated for
space-saving and simple wiring
■ Use soldering software to export PCB CAD
files of solder holes for robot controller to
control SCARA in achieving soldering with high
speed
■ Auto calibration for correcting deviation when
changing soldering tools to achieve precision
soldering
■ Total solution adopts Delta industrial
automation products for easy integration and
maintenance
Teaching Pendant
Robot Controller
Input positions of
solder holes on
PCB boards
SCARA Robot
I/O
Integrates four servo drives in one single unit
for space-saving
Automatic Screw-Driving Solution
■ Robot controller with servo drive integrated for
space-saving and easy wiring
■ Flexible robot teaching movement and motion
control for interchangeable production
■ SCARA delivers consistent quality with high
repeatability
■ Total solution adopts Delta industrial automation
products for easy integration and maintenance
Teaching Pendant
SCARA Robot
I/O
Electric
Screwdriver
Robot Controller
12
Successful Applications
Conveyor Tracking and Glue Dispensing Solution
■ SCARA provides fixture-less conveyor tracking
with precise glue dispensing
■ Synchronizes robot movement to handle
workpieces without stopping conveyor for
enhanced production efficiency
■ General communication interface easily
connects different machine vision systems
and modules
■ Simple system configuration to perform glue
dispensing during conveyance
■ Total solution adopts Delta industrial
automation products for easy integration and
maintenance
■ Customer-driven PC software offers flexible
adjustment and assists users re-design and
self-develop for customized applications
Robot Controller
Teaching Pendant
RS232
Machine Vision System
Photoelectric
Sensor
SCARA Robot
13
Five-side Appearance Inspection of Finished Goods Solution
■ Robot controller with servo drive integrated for
space-saving and easy wiring
■ Links to MES System for optimized
manufacturing and interchangeable production
■ Combines flexible robot movement with
machine vision system for quick inspection of
multi-products production
■ Simplified system with high reliability and
■ Simplified system with high reliability and
simple wiring configuration via MODBUS
simple wiring configuration via MODBUS
communication structure
communication structure
■ Total solution adopts Delta industrial
automation products for easy integration and
maintenance
Teaching Pendant
Robot Controller
Machine Vision System
RS232
SCARA Robot
Five-side Appearance Inspection Result
14
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 ; 220V 1-phase / 3-phase
1523 : 1.5 kW ; 220V 3-phase
► ECMA Series Servo Motors
ECM A - C 1 06 02 E S
Shaft Diameter Type
S : Standard Shaft Diameter
H : Specific Shaft Diameter / High Inertia Model
7 : Special Shaft Diameter
Product Name
ECM : Electrical
Commutation Motor
Servo Motor Model
Driving Type
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
A : AC Servo Motor
Series
Rated Voltage / Rated Speed
C : 220V / 3000 r/min
E : 220V / 2000r/min
F : 220V / 1500r/min
G : 220V / 1000r/min
Rated Output Power
Encoder Type
0F:50 W
01:100 W
02:200 W
1 : Incremental encoder, 20-bit
2 : Incremental encoder, 17-bit
A : Absolute Encoder
Single Turn Resolution : 17-bit
Multi-Turn Resolution : 16-bit
03:300 W
04:400 W
05:500 W
06:600 W
07:750 W
09:900 W
10:1 kW
13:1.3 kW
15:1.5 kW
Motor Frame Size
04:40 mm
06:60 mm
08:80 mm
► ECMC Series Servo Motors
09:86 mm
10:100 mm
13:130 mm
18:180 mm
ECM C - C W 06 02 R S
Product Name
Shaft Diameter Type
ECM : Electrical
Commutation Motor
S:Standard Shaft Diameter
Driving Type
Servo Motor Model
C : AC Servo Motor
Series
Rated Voltage / Rated Speed
C : 220 V / 3000 r/min
Encoder Type
W : Absolute Encoder
Single Turn Resolution:22-bit
Multi-Turn Resolution:16-bit
06:60 mm
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)
-
-
-
-
Keyway
-
-
-
-
Keyway
(with screw hole)
-
-
R
S
Rated Output Power
Motor Frame Size
04:40 mm
W/O
Brake
Shaft Type and
Oil Seal
01:100 W
02:200 W
08:80 mm
15
04:400 W
07:750 W
Product Line-up
ASDA-MS Model
Name
Rated output
power (kW)
Rated voltage (V)
Rated speed (RPM)
Servo Motor Model Name
Shaft Diameter
50
200V
3000 RPM
ECMA-C1040F □ S
8mm
100
200V
3000 RPM
ECMA-C △ 0401 □ S
8mm
100
200V
3000 RPM
ECMC-CW0401 □ S
8mm
200
200V
3000 RPM
ECMA-C △ 0602 □ S
14mm
200
200V
3000 RPM
ECMC-CW0602 □ S
14mm
22mm
Absolute type encoder (single turn resolution:
22bit / multi-turn resolution: 16 bit)
Absolute type encoder (single turn resolution:
22bit / multi-turn resolution: 16 bit)
ASD-MS-0721-F
ASD-MS-1523-F
300
200V
1000 RPM
ECMA-G △ 1303 □ S
400
200V
3000 RPM
ECMA-C △ 0604 □ S
14mm
400
200V
3000 RPM
ECMC-CW0604 □ S
14mm
14mm
Note
Absolute type encoder (single turn resolution:
22bit / multi-turn resolution: 16 bit)
High inertia
400
200V
3000 RPM
ECMA-C △ 0604 □ H
400
200V
3000 RPM
ECMA-C △ 0804 □ 7
14mm
500
200V
2000 RPM
ECMA-E △ 1305 □ S
22mm
600
200V
1000 RPM
ECMA-G △ 1306 □ S
22mm
750
200V
3000 RPM
ECMA-C △ 0807 □ S
19mm
750
200V
3000 RPM
ECMC-CW0807 □ S
19mm
750
200V
3000 RPM
ECMA-C △ 0807 □ H
19mm
Absolute type encoder (single turn resolution:
22bit / multi-turn resolution: 16 bit)
High inertia
750
200V
3000 RPM
ECMA-C △ 0907 □ S
16mm
750
200V
3000 RPM
ECMA-C △ 0807 □ H
19mm
High inertia
750
200V
3000 RPM
ECMA-C △ 0907 □ S
16mm
850
200V
1500 RPM
ECMA-F △ 1308 □ S
22mm
900
200V
1500 RPM
ECMA-F △ 1309 □ S
22mm
900
200V
1000 RPM
ECMA-G △ 1309 □ S
22mm
1000
200V
3000 RPM
ECMA-C △ 0810 □ S
19mm
1000
200V
3000 RPM
ECMA-C △ 0910 □ S
16mm
1000
200V
3000 RPM
ECMA-C △ 1010 □ S
22mm
1000
200V
2000 RPM
ECMA-E △ 1310 □ S
22mm
1500
200V
2000 RPM
ECMA-E △ 1315 □ S
22mm
1500
200V
2000 RPM
ECMA-E △ 1815 □ S
35mm
註: *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.
Servo Drive and Servo Motor Combinations
Servo Drive and Servo Motor Combinations
750W Servo Drive
ASD-MS-0721-
Servo Drive
Combine with
Servo Motor
Example
Rated Output
Power :
100W
200W
400W
750W
Rated Output
Power :
100W
200W
400W
750W
750W Servo Drive
Rated Output
Power :
100W
200W
400W
750W
750W
750W
750W Servo Drive
100W
400W
750W
750W
Stand-alone Servo Motor's Maximum
Rated Output Power is 750W
Servo Drive
Combine with
Servo Motor
1.5kW Servo Drive
ASD-MS-1523Rated Output
Power :
750W
1kW
1.5kW
1.5kW Servo Drive
Rated Output Rated Output
Power :
Power :
750W
750W
1kW
1kW
1.5kW
1.5kW
1.5kW
Stand-alone Servo Motor's Maximum
Rated Output Power is 1.5kW
16
1.5kW
1.5kW
1.5kW Servo Drive
750W
1kW
1.5kW
ASDA-MS Specifications
750 W (for 4 axes of control)
1.5 kW (for 4 axes of control)
07
15
Phase / Voltage
Three-phase / Single-phase 220VAC
3-phase 220VAC
Permissible Voltage Range
1-phase / 3-phase 200 ~ 230VAC, -15% ~ 10%
3-phase 200 ~ 230VAC, -15% ~ 10%
ASDA-MS Series
Control of Main Circuit
Power
Supply
24VDC,-10%~10%
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
20MByte for User Program and Data Memory
16KByte for PLC SV/DV Variables (Not Retained)
60KByte for PLC DH Variables (Retained)
1K Points for Global Use
Maximum 32K Points for Every User Program
Robot Control
Memory Capacity
Input / Output
Communication
Interfaces
Standard I/O
User I/O:Input:24,Output:12
System I/O:Input:8,Output:8
Brake Output
Output:4
Ethernet
1 Channel
RS-232 / RS-485
1 Port (One port can switch two communication function)
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
Environment
86 kPa ~ 106 kPa
*2
Combination of Motors
Maximum Operating
Temperature Limit
Combination of Motors
Maximum Operating
Temperature Limit
750 W × 4
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
Storage Temperature
-20 ºC ~ 65 ºC
Humidity
0 ~ 90% RH (non-condensing)
Vibration
9.80665 m/s2 (1G) less than 20 Hz, 5.88 m/s2 (0.6G) 20 to 50 Hz
IP Rating
IP20
Power System
TN System*1
IEC/EN 61800-5-1, UL 508C, RCM
Approvals
註: *1. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that point by a protective earth conductor.
*2. Operating temperature: Please apply this robot controller base on the power output and under appropriate ambient temperature to avoid extreme heat for normal operation.
17
Exterior of the Robot Controller
Serial Communication Port
Teaching Pendant Connection Port
Used to connect the teaching pendant
For MODBUS communication control,
supporting RS-485 / RS-232 serial
communication.
High-speed Communication Port
(Ethernet) / USB Connection
Port (USB1, USB2) / DMCNET
Connection Port (DMCNET)
LED Display
The 5 digit, 7 segment LED displays
the controller status or fault codes.
• Ethernet: Used to connect PCs or notebooks,
capable of accessing data through DROE
software.
Servo Motor Output (U, V, W)
Used to connect servo motors. Never
connect the output terminal to main circuit
power as the drive may be damaged
beyond repair if incorrect cables are
connected to the output terminals.
• USB1, USB2: Direct connectivity to USB
flash drives
• DMCNET: Used to connect DMCNET
peripherals
Main Circuit Terminal (R, S, T)
Standard I/O Terminal
(STD. DIO)
Used to connect 200 ~ 230Vac, 50/60Hz
commercial power supply.
Motor Brake Output Terminal
(BRK. DIO)
Full-Closed Loop Control
Interface (EXT. ENG)
STO I/O Terminal
(Safe Torque Off)
Used to connect linear scale and encoder.
Feeds back the position signals of the
full closed linear scale and encoder for
controlling A, B, Z phase signals.
Used to connect a certified safety relay or
switch for controlling STO I/O signals.
Motor Encoder Interface
(MOTOR. ENC.)
Control Circuit Terminal
Used to connect the encoder signals of
four servo motors
Used to connect DC24V power supply.
System I/O Terminal (SYS. DIO)
Ground Terminal
Used to connect grounding wire of
power supply and servo motor.
Dimensions of the Robot Controller
159.25(6.2108)
175.2(6.8328)
300.8(11.7312)
80(3.12)
Unit: mm (inch) Weight: 5.6 kg
Ø
)
17
0.2
(
5.5
Screw:M4*0.7
Torgue:14 kgf-cm
18
1) Dimensions are in millimeters (inches);
Weights are in kilograms (kg) and (pounds (lbs)).
2) Dimensions and weights of the robot controller may
be revised without prior notice.
Servo Motor Dimensions
■ Frame Size 86mm and below
Model
C1040F
S 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 △ 0910
LC
40
40
60
60
60
80
80
80
LZ
4.5
4.5
5.5
5.5
5.5
6.6
6.6
6.6
6.6
6.6
LA
46
46
70
70
70
90
90
90
100
100
S
8( - 0.009 )
LB
30( - 0.021 )
30( - 0.021 )
79.1
+0
+0
14( - 0.011 )
50( - 0.025 )
+0
100.6
-20
+0
LL
(without brake)
LL
(with brake)
LS
+0
+0
14( - 0.011 )
+0
14( - 0.011 )
50( - 0.025 )
+0
50( - 0.025 )
+0
105.5
130.7
136.8
141.6
20
8( - 0.009 )
+0
19( - 0.013 )
70( - 0.030 )
+0
145.8
166.8
27
14( - 0.011 )
+0
86
+0
19( - 0.013 )
+0
16( - 0.011 )
70( - 0.030 )
+0
70( - 0.030 )
+0
112.3
138.3
176.37
152.8
27
27
+0
16( - 0.011 )
+0
80( - 0.030 )
+0
80( - 0.030 )
151.1
130.2
153.2
178
189
161.3
184.3
27
32
32
30
30
+0
LR
25
25
30
30
30
30
35
35
35
35
LE
2.5
2.5
3
3
3
3
3
3
3
3
LG
5
5
7.5
7.5
7.5
8
8
8
8
8
LW
16
16
20
20
20
20
25
25
20
20
RH
6.2
6.2
11
11
11
11
15.5
15.5
13
13
WK
3
3
5
5
5
5
6
6
5
5
W
3
3
5
5
5
5
6
6
5
5
T
3
3
5
5
5
5
6
6
5
5
TP
M3
Depth 8
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.
2) Dimensions of the servo motors may
be revised without prior notice.
3) The boxes ( ) in the model names are for optional configurations (keyway, brake and oil seal.)
4) The boxes ( △ ) in the model names are for resolution types. △ =1: Incremental encoder, 20-bit;
△ =2: Incremental encoder, 17-bit)
Speed-Torque Curves (T-N Curves)
Torque (N-m)
Torque (N-m)
Intermittent Duty Zone
Continuous Duty Zone
ECMA-C
Torque (N-m)
Torque (N-m)
Intermittent Duty Zone
Continuous Duty Zone
Speed (r/min)
ECMA-C1040F □ S
Speed (r/min)
0401 □ S
Continuous Duty Zone
ECMA-C
0602 □ S
Torque (N-m)
8.78
(276%)
7.14
(298%)
6.00
(251%)
Torque (N-m)
Intermittent Duty Zone
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
ECMA-C
3,000
Speed (r/min)
0910 □ S
19
S
86
Torque (N-m)
Intermittent Duty Zone
速度 (r/min)
Continuous Duty Zone
ECMA-C
ECMA-C
ECMA-C
0604 □ S
0604 □ H
0804 □ 7
Intermittent Duty Zone
Speed (r/min)
Continuous Duty Zone
ECMA-C
ECMA-C
0807 □ S
0807 □ H
Speed (r/min)
Servo Motor Dimensions
■ Frame Size 100mm and 130mm
Model
C △ 1010
LC
S E △ 1305
100
S E △ 1310
130
S E △ 1315
130
S F △ 1308
130
S G △ 1303
130
S G △ 1306
130
S G △ 1309
130
S
130
LZ
9
9
9
9
9
9
9
9
LA
115
145
145
145
145
145
145
145
S
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
+0
22( - 0.013 )
LB
95( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
+0
110( - 0.035 )
153.3
147.5
147.5
167.5
152.5
147.5
147.5
163.5
192.5
183.5
183.5
202
181
183.5
183.5
198
LS
37
47
47
47
47
47
47
47
LR
45
55
55
55
55
55
55
55
LE
5
6
6
6
6
6
6
6
LL
(without brake)
LL
(with brake)
+0
+0
LG
12
11.5
11.5
11.5
11.5
11.5
11.5
11.5
LW
32
36
36
36
36
36
36
36
RH
18
18
18
18
18
18
18
18
WK
8
8
8
8
8
8
8
8
W
8
8
8
8
8
8
8
8
T
7
7
7
7
7
7
7
7
TP
M6
Depth 20
M6
Depth 20
M6
Depth 20
M6
Depth 20
M6
Depth 20
M6
Depth 20
M6
Depth 20
M6
Depth 20
1) Dimensions are in millimeters.
2) Dimensions of the servo motors may
be revised without prior notice.
3) The boxes ( ) in the model names are for optional configurations (keyway, brake and oil seal.)
4) The boxes ( △ ) in the model names are for resolution types. △ =1: Incremental encoder, 20-bit;
△ =2: Incremental encoder, 17-bit);△ = A:Absolute type
Speed-Torque Curves (T-N Curves)
Torque (N.m)
Torque (N.m)
Torque (N.m)
Torque (N.m)
Torque (N.m)
21.5
Intermittent Duty Zone
Intermittent Duty Zone
Intermittent Duty Zone
Intermittent Duty Zone
Intermittent Duty Zone
7.16
連續領域
連續領域
Speed (r/min)
ECMA-C △ 1010 □ S
ECMA-E △ 1305 □ S
Torque (N.m)
連續領域
ECMA-G △ 1303 □ S
連續領域
Speed (r/min)
Speed (r/min)
ECMA-G △ 1306 □ S
Speed (r/min)
2,300
Intermittent Duty Zone
連續領域
Speed (r/min)
連續領域
Speed (r/min)
ECMA-E △ 1315 □ S
Torque (N.m)
Intermittent Duty Zone
連續領域
Speed (r/min)
ECMA-E △ 1310 □ S
Torque (N.m)
Intermittent Duty Zone
4.8
連續領域
Speed (r/min)
ECMA-G △ 1309 □ S
20
ECMA-F △ 1308 □ S
Servo Motor Specifications
■ Low Inertia Series
C104
ECMA Series
Rated output power (kW)
Rated torque(N-m)
*1
Maximum torque(N-m)
C △ 04
C △ 06
0F
01
02
0.05
0.1
0.2
C △ 08
04
S
0.4
C △ 09
C △ 10
04
07
07
10
10
0.4
0.75
0.75
1.0
1.0
0.159
0.32
0.64
1.27
1.27
2.39
2.39
3.18
3.18
0.477
0.96
1.92
3.82
3.82
7.16
7.14
8.78
9.54
Rated speed(r/min)
3000
3000
3000
Maximum speed(r/min)
5000
3000
5000
0.69
0.90
1.55
2.60
2.60
5.10
Maximum current(A)
2.05
2.70
4.65
7.80
7.80
Power rating(kW/s)
12.27
27.7
22.4
57.6
24.0
Rotor moment of inertia
(x10-4kg-m2)(without brake)
0.0206
0.037
0.177
0.277
Mechanical time constant (ms)
1.14
0.75
0.80
Torque constant-KT (N-m/A)
0.23
0.36
0.41
Rated current(A)
3.66
4.25
7.30
15.3
11
12.37
21.9
50.4
29.6
38.6
38.1
0.68
1.13
1.93
2.62
2.65
0.53
0.74
0.63
1.72
1.20
0.74
0.49
0.49
0.47
0.65
0.75
0.44
Voltage constant-KE (mV/(r/min)
9.8
13.6
16.0
17.4
18.5
17.2
24.2
27.5
16.8
Armature resistance (Ohm)
12.7
9.30
2.79
1.55
0.93
0.42
1.34
0.897
0.20
Armature inductance (mH)
26
24.0
12.07
6.71
7.39
3.53
7.55
5.7
1.81
Electrical time constant (ms)
2.05
2.58
4.30
4.30
7.96
8.36
5.66
6.35
9.30
Insulation class
A class(UL),B class(CE)
Insulation resistance
100MΩ,DC 500V above
Insulation strength
1.8k Vac,1 sec
Weight (kg)(without brake)
0.42
0.5
1.2
1.6
2.1
3.0
2.9
3.8
4.3
Weight (kg)(with brake)
--
0.8
1.5
2.0
2.9
3.8
3.69
5.5
4.7
Max. radial shaft load (N)
78.4
78.4
196
196
245
245
245
245
490
Max. thrust shaft load (N)
39.2
39.2
68
68
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
Rotor moment of inertia
(x10-4kg-m2)(with brake)
--
0.04
0.19
0.30
0.73
1.18
1.95
2.67
3.33
--
0.81
0.85
0.57
0.78
0.65
1.74
1.22
0.93
--
0.3
1.3
1.3
2.5
2.5
2.5
2.5
8.0
Brake power consumption (at 20˚C)[W]
--
7.3
6.5
6.5
8.2
8.2
8.2
8.2
18.7
Brake release time [ms (Max)]
--
5
10
10
10
10
10
10
10
Brake pull-in time [ms (Max)]
--
25
70
70
70
70
70
70
70
Mechanical time constant
(ms)(with brake)
Brake holding torque [Nt-m (min)]
*2
Vibration grade (μm)
15
Operating temperature (˚C)
0ºC ~ 40ºC
Storage temperature (˚C)
-10ºC ~ 80ºC
Operating humidity
20 ~ 90%RH(non-condensing)
Storage humidity
20 ~ 90%RH(non-condensing)
Vibration capacity
2.5G
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))
Approvals
Note:
*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
Material:Aluminum – F40, F60, F80, F100, F130
*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
■ Medium/ Medium-High / High Inertia Series
C △ 06
ECMA Series
04
Rated output power (kW)
Rated torque(N-m)
*1
H
C △ 08
07
H
E △ 13
05
10
F △ 13
15
08
G △ 13
03
06
09
0.4
0.75
0.5
1.0
1.5
0.85
0.3
0.6
0.9
1.27
2.39
2.39
4.77
7.16
5.41
2.86
5.73
8.59
7.16
14.3
21.48
13.8
8.59
17.19
21.48
Maximum torque(N-m)
3.82
7.16
Rated speed(r/min)
3000
3000
Maximum speed(r/min)
5000
5000
Rated current(A)
2.6
5.1
2.9
5.6
8.3
7.1
2.5
4.8
7.5
Maximum current(A)
7.8
15.3
8.7
16.8
24.9
19.4
7.5
14.4
22.5
2000
1500
3000
1000
3000
2000
Power rating(kW/s)
21.7
19.63
7.0
27.1
45.9
21.52
10.0
39.0
66.0
Rotor moment of inertia
(x10-4kg-m2)(without brake)
0.743
2.91
8.17
8.41
11.18
13.6
8.17
8.41
11.18
Mechanical time constant (ms)
1.42
1.6
1.91
1.51
1.10
2.43
1.84
1.40
1.06
Torque constant-KT (N-m/A)
0.49
0.47
0.83
0.85
0.87
0.76
1.15
1.19
1.15
Voltage constant-KE (mV/(r/min)
17.4
17.2
30.9
31.9
31.8
29.2
42.5
43.8
41.6
Armature resistance (Ohm)
1.55
0.42
0.57
0.47
0.26
0.38
1.06
0.82
0.43
Armature inductance (mH)
6.71
3.53
7.39
5.99
4.01
4.77
14.29
11.12
6.97
Electrical time constant (ms)
4.3
8.36
12.96
12.88
15.31
12.55
13.55
13.50
16.06
6.8
7.0
7.5
Insulation class
A class(UL),B class(CE)
Insulation resistance
100MΩ,DC 500V
1.8k Vac,1 sec
Insulation strength
Weight (kg)(without brake)
1.8
3.4
6.8
7.0
7.5
8.6
Weight (kg)(with brake)
2.2
3.9
8.2
8.4
8.9
10.0
8.2
8.4
8.9
Max. radial shaft load (N)
196
245
490
490
490
490
490
490
490
Max. thrust shaft load (N)
68
98
98
98
98
98
98
98
98
Power rating (kW/s)(with brake)
21.48
19.3
6.4
24.9
43.1
19.78
9.2
35.9
62.1
Rotor moment of inertia
(x10-4kg-m2)(with brake)
0.751
2.96
8.94
9.14
11.90
14.8
8.94
9.14
11.9
Mechanical time constant
(ms)(with brake)
1.43
1.62
2.07
1.64
1.19
2.65
2.0
1.51
1.13
Brake holding torque [Nt-m (min)]*2
1.3
1.3
10.0
10.0
10.0
10.0
10.0
10.0
10.0
Brake power consumption (at 20˚C)[W]
6.5
6.5
19.0
19.0
19.0
19.0
19.0
19.0
19.0
Brake release time [ms (Max)]
10
10
10
10
10
10
10
10
10
Brake pull-in time [ms (Max)]
70
70
70
70
70
70
70
70
70
15
Vibration grade (μm)
Operating temperature (˚C)
0ºC ~ 40ºC (32ºF to 104ºF)
Storage temperature (˚C)
-10ºC~ 80ºC(-14ºF to 176ºF)
Operating humidity
20 ~ 90%RH(non-condensing)
Storage humidity
20 ~ 90%RH(non-condensing)
Vibration capacity
2.5G
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))
Approvals
Note:
*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
Material:Aluminum – F40, F60, F80, F100, F130
*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
Handheld HMI
DOP-H Series
Dimensions
41(1.61")
53.5(2.11")
27.8(1.1")
257.4(10.13")
0.72")
170.3(6.7")
71.8(2.83")
12.5(0.5")
51.3(2.02")
Unit: mm (inch) Weight: 720g (without cable)
1)Dimensions are in millimeters (inches); Weights are in grams (g).
2)Dimensions and weights of the handheld HMI may be revised
without prior notice.
23
Specifications
Model
DOP-H07E425ZM
DOP-H07E465ZM
Display Size & Type
7” Widescreen TFT LCD
Display Colors
65536 colors
Resolution (pixels)
800 x 480
Backlight
LED Back Light
LCD Module
Luminance (cd/m2)
Backlight Life
(hours)
450
(Note 1)
20,000
MCU
400 MHz
Flash ROM(Bytes)
128MB
RAM(Bytes)
64MB
Backup Memory (Bytes)
16MB
Buzzer
Multi-Tone Frequency(2K ~ 4K Hz)/ 80dB
Audio Output
N/A
USB
1 USB Client Ver 2.0
SD
SD Card (Support SDHC)
Serial COM Port
N/A
Ethernet
1 Ports(Note2)
Function Key
15
Cable Length & Type
5m
Emergency Stop
A-contact: B-contact:1
Rated voltage:DC 24V
Maximum rated current:500mA
Minimum allowable load:DC 5V/1mA
Complies with IEC60947-5-1, EN60947-5-1, IEC60947-5-5, EN60947-5-5, UL 508, CSA C22.2 No.14,
GB 14085.5
3-Position Operation Switch
A-contact:1
Rated voltage:DC 24V
Maximum rated current:500mA
Minimum allowable load:DC 3V/5mA
Complies with EN/IEC60947-5-8, IEC60947-5-1, EN60947-5-1, JIS C8201-5-1, UL508, CSA C22.2 NO. 14
Applicable standards for use with ISO12100-1、-2/EN12100-1、-2, IEC60204-1/EN60204-1, ISO11161/
prEN11161, ISO10218/EN775, ANSI/RIA R15.06, ANSI B11.19
Handwheel
Rated Voltage:<DC 24V in
Resolution:50(P/R)
Output Pulse:Square
Output Phase:A, B
Phase difference of A and B: 90° ± 45°
Max. Frequency response: 200 Hz
N/A
Perpetual Calendar
Built-in
Cooling Method
Natural cooling
Safety Approval
CE
Waterproof Level of Panel Display
IP55
Operation Voltage (Note 3)
Voltage Endurance
Power Consumption
DC +24V(-10% ~ +15%) (Note 2)
AC500V for 1 minute (between charging DC24V terminal and FG terminals)
(Note 5)
5.6W
Backup Battery
3V lithium battery CR2450 × 1
Backup Battery Life
About 5 years or more at 25 ∘ C but subjects to the temperature and the conditions during usage.
Operation Temperature
0ºC ~ 40ºC
Storage Temperature
-20ºC ~ +60ºC, 10% ~ 90% RH
Operating Environment
10% ~ 90% RH【0 ~ 40ºC】,10% ~ 55% RH【41 ~ 50ºC】,Pollution Degree 2
Vibration
Conforms to IEC61131-2; Continuous: 5Hz ~ 8.3Hz 3.5 mm, 8.3Hz ~ 150Hz 1G
Shock
Conforms to IEC60068-2-27; 11ms, 15G Peak , X, Y, Z direction for 6 times
Dimensions
(W)x(H)x(D)mm
257.4 x 170.3 x71.8 (Emergency stop switch and hook are included.)
Weight
750g (cable excluded)
Note:
1) The half-life of backlight is defined as original luminance being reduced by 50% when the maximum driving current is supplied to HMI.
2) With built-in isolated power circuit.
3) Please use isolated power supply.
4) Some models are in the process of application for UL and KCC certification. For more information, please consult our distributors.
5) The value of the power consumption indicates the electrical power consumed by HMI with no peripheral devices connected. To ensure normal operation, it is recommended using a power
supply with a capacity 1.5 ~2 times the value of the power consumption.
6) The content of this catalogue may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.deltaww.com
24
Optional Accessories
Power Connectors
ASDBCAPW0000
(for servo motors with 40/60/80/86 frame size)
ASD-CAPW1000
(for servo motors with 100/130 frame size)
Title
Part No.
Manufacturer
Housing
C4201H00-2*2PA
JOWLE
Terminal
C4201TOP-2
JOWLE
3106A-20-18S
ASDBCAPW0100
(for servo motors with 40/60/80/86 frame size and brake cable)
Title
Part No.
Manufacturer
Housing
C4201H00-2*3PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Encoder Connectors
ASD-ABEN0000
Title
MOTOR
SIDE
Part No.
Manufacturer
Housing
AMP(1-172161-9)
AMP
Terminal
AMP(170359-3)
AMP
CLAMP
DELTA(34703237XX)
DELTA
DRIVE
SIDE
PLUG
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
Part No.
Manufacturer
ASD-CAPW1103,ASD-CAPW1105
Title
MOTOR SIDE
DRIVE
SIDE
Encoder Converter Module
------
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
86.78mm
145.5mm
35.55mm
3M
10326
3M
10326
ASD-PBSC2626
3106A-20-29S
PLUG
50mm
25
Optional Cable and Connectors
Title
Type
Part No.
Terminal Accessory
Kit
Standard I/O Terminal(STD.DIO)
Main Circuit Terminal(R,S,T)
Control Circuit Terminal(24V)
Servo Motor Output(U,V,W) 2 Set
STO Connector
Motor Brake Output Terminal
STO I/O Terminal (Safe Torque Off)
System I/O Terminal(SYS.DIO)
Motor Encoder Interface (MOTOR. ENC.)
Full-Closed Loop Control Interface(EXT.ENC)
GMC-MS00AC
Converter Board
Module for Encoder
Converter Board for Servo Motor Encoder Connector
ASD-PBSC2626
Quick Connector
ASD-ABEN0000
Military Connector
ASD-CAEN1000
Non Quick Release Connector
ASDBCAPW0000
Quick Release Connector
ASDBCAPW0100
Military Connector
ASD-CAPW1000
DMCNET Extension Module 32 DI (NPN//PNP)
ASD-DMC-RM32MN
DMCNET Extension Module 32 DO Transistor Output
ASD-DMC-RM32NT
DMCNET Extension Module 64 DI (NPN//PNP)
ASD-DMC-RM64MN
DMCNET Extension Module 64 DO Transistor Output
ASD-DMC-RM64NT
DMCNET Extension Module 16 DI/ 16 DO Transistor Output
ASD-DMC-RM32PT
DMCNET Extension Module with 4 sets of analog input
ASD-DMC-RM04AD
DMCNET Extension Module with 4 sets of analog output
ASD-DMC-RM04DA
DMCNET Extension Module with 4 sets of pulse output
ASD-DMC-RM04PI
0.3m
UC-CMC003-01A
0.5m
UC-CMC005-01A
1m
UC-CMC010-01A
1.5m
UC-CMC015-01A
2m
UC-CMC020-01A
3m
UC-CMC030-01A
5m
UC-CMC050-01A
10m
UC-CMC100-01A
20m
UC-CMC200-01A
Servo Motor Encoder
Connector
Servo Motor Power
Connector
DMCNET Extension
IO Module
DMCNet Extension
Cable
26
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 (0)40-8003800 / FAX: +31 (0)40-8003898
*We reserve the right to change the information in this catalogue without prior notice.
DELTA_IA-ASDA_ASDA-MS_C_EN_20170116
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising