Datasheet ASD-A

Type number key ASD -A 07 21 L A

Version number Motor Inertia L=Low M=Medium Input voltage 21=230VAC 1 23=230VAC 3 Output Power 01=100W 07=750W 10=1kW 30=3kW, etc. ASD-A series Delta AC Servo Drive

230V 0.1 ~ 0.4kW

Type number ASD-A Rated power kW Mains voltage VAC Rated output current A RMS Max. output current A RMS Overload capacity % Speed range (max) rpm Dimensions HxWxD mm Size * Weight kg Power cable section (R,S,T and U,V,W) mm2 Cooling Brake chopper Internal brake resistor /W External min. brake resistor value * See dimensional drawing on Page 5~6. 0121LA 0.1 1.1 3 0221LA 0.2 230 (1/3 phase) 1.7 4.9 200% 8s 300% 2.8s 3000 (5000) 162x75x140 ASD1 1.5 2 Convection Yes 40/60 40 0421LA 0.4 3.3 9.3

20

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Datasheet ASD-A Version1 Oct2005.doc

Datasheet ASD-A

230V 0.75 ~ 1.5kW

Type number ASD-A 0721LA 1021LA 1021MA 1521LA 1521MA Rated power kW 0.75 1.0 1.0 1.5 1.5 Mains voltage VAC 230 (1/3 phase) Rated output current A RMS 5 6.8 5.6 9.5 10.6 Max. output current A RMS 14.1 18.7 17.6 26.7 30.3 Overload capacity % 200% 8s 300% 2.8s 200% 16s 300% 5.6s Speed range (max) rpm 3000 (5000) Dimensions HxWxD mm 162x75x140 Size * ASD2 Weight kg 2 Power cable section (R,S,T and U,V,W) mm2 2 Cooling Fan Brake chopper Yes Internal brake resistor 40/60 /W External min. brake resistor value 20 * See dimensional drawing on Page 5~6.

230V 2.0 ~ 3.0kW

Type number ASD-A Rated power kW Mains voltage VAC Rated output current A RMS Max. output current A RMS Overload capacity % Speed range (max) rpm Dimensions HxWxD mm Size * Weight kg Power cable section (R,S,T and U,V,W) mm2 Cooling Brake chopper Internal brake resistor /W External min. brake resistor value * See dimensional drawing on Page 5~6. 2023LA 2 13.4 38.4 2023MA 3023LA 2 3 230 (3-phase) 13.1 18.9 31.4 55 200% 16s 300% 5.6s 3000 (4500) 245x110x206 ASD3 3 2 Fan Yes 20/120 10 3.5 3023MA 3 17.4 42.3

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Datasheet ASD-A

Common data ASD-A

230V: 200 ~ 255 (1-phase) 170 ~ 255 (3-phase) Mains frequency Hz 50Hz 5% Output rated speed range rpm 0 ~ 3000 Control SVPWM Operating temperature C 0 ~ +55 Storage temperature C -20 ~ +65 Atmospheric pressure kPa 86 ~ 106 Relative humidity % 95 (non condensing) Vibration <20Hz: 1g / 20~50Hz: 0.6g Degree of protection IP20 Pollution degree 2 Altitude m 1000 Keypad Integrated Control power cable section (L1,L2) mm2 1.25 Ext. brake resistor cable section (P,C) mm2 2 Encoder cable section (CN2) mm2 0.1 SINK Ext. or Int. 24VDC supply Range 24VDC Digital inputs 8x DIx Response filter time 0~40ms Pull-up (internal) 4.7k 12 bits Resolution V_REF Time constant 2.2 s Analogue inputs -10 ~ +10VDC T_REF Range Impedance 10k Digital outputs 5x DOx Opto-coupler OC 24VDC/120mA 10 bits Resolution Analogue outputs 2x MONx Range 0~ 8VDC/1mA Impedance 100 OC-signal input PULSE Pull-up (internal) 10k SIGN Range 24VDC (from Int. 24VDC supply) Max. frequency 200kpps Pulse inputs PULSE, /PULSE Line driver signal input Internal resistance 270 SIGN Max. frequency 500kpps /SIGN OA, /OA To line driver: Max 40mA into 125 Encoder outputs OB, /OB To hi-speed opto-coupler: Max 40mA OZ, /OZ Signal supply VDD 1x +24VDC/500mA Potentiometer supply VCC 1x 12VDC/100mA Fault record Last 5 errors Modbus RS232/485/422 Baudrate 4800 ~ 115200 * Address 1 ~ 254 Serial communication 1x RJ11 Mode ASCII 7,N,2 / 7,E,1 / 7,O,1 / 8,N,2 / 8,E,1 / 8,O,1 Modbus RTU 8,N,2 / 8,E,1 / 8,O,1 * Max. cable length 15m (3m for Baudrate 38400bps) Mains voltage range VAC

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Datasheet ASD-A

Performance data ASD-A*

General Overcurrent Overvoltage Undervoltage Overheating Overload Excessive speed/position error Encoder error Regeneration error Communication error Memory error Watchdog

Protections

Speed Control Mode Output speed control range Command source Smoothing strategy Torque limiting Frequency response characteristic Speed fluctuation **

1:5000 Analogue input or internal parameters Low-pass and S-curve filter Analogue input or internal parameters 450Hz max 0.01% @rated speed when load 0 ~ 100% or power fluctuation 10% or ambient temp 0 ~ 50 C

Torque Control Mode Command source Smoothing strategy Speed limiting Position Control Mode Pulse type Command source Smoothing strategy Electronic gear Torque limiting Feed forward compensation * In combination with Delta ASTM motors. ** Defined as (Zero load speed Full load speed)/Rated speed

Analogue input or internal parameters Low-pass filter Analogue input or internal parameters

Pulse + Direction A-phase + B-phase CCW-pulse + CW-pulse Pulse train input or internal parameters Low-pass and P-curve filter N/M multiple: 1/50<N/M<200 where N is 1 ~ 32767 and M is 1 ~ 32767 By parameters By parameters @rated speed

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Datasheet ASD-A

Sizes and dimensions in mm Size ASD1

Size ASD2

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Datasheet ASD-A

Sizes and dimensions in mm [inches] Size ASD3

Power terminals (general)

Terminal symbol L1, L2 R, S, T U, V, W P, D, C External resistor: P-D open, P-C resistor Terminal function Mains control supply input Mains power input Motor output Internal resistor: P-D shorted, P-C open

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Datasheet ASD-A

Basic wiring diagram 0.1 ~ 1.5kW

0.1 1.5kW 1/3 phase 230V

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Datasheet ASD-A

2.0 ~ 3.0kW

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Datasheet ASD-A

Connection examples
Position (Pt) Control Mode: Ext. signal Position (Pr) Control Mode: Int. signal

Speed Control Mode

Torque Control Mode

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Datasheet ASD-A

Connector layout and pin-designation

CN1 I/O
25 1

26

50

View on drive chassis part

View on cable connector (solder side)

CN2 Encoder
10 1

11

20

View on drive chassis part

View on cable connector (solder side)

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Datasheet ASD-A

CN3 Serial Communication

6 4 2 5 3 1

View on drive chassis part View on cable connector (solder side)

RS232

RS485

RS422

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Datasheet ASD-A

Cables & connectors

3kW

Motor cable

External brake resistor (option)

Motors 750W have leads with connectors. Motors 1kW have integrated chassis connectors.

Power

Drive

Motor

Motor cable

Encoder cable CN2

Drivecomputer cable CN3 3m

I/O Connector CN1

kW 0.1 0.2 0.4 0.75 ASD-A0121LA ASD-A0221LA ASD-A0421LA ASD-A0721LA ASD-A1021LA 1 ASD-A1021MA ASD-A1521LA 1.5 ASD-A1521MA ASD-A2023LA 2 ASD-A2023MA ASD-A3023LA 3 ASD-A3023MA ASMT01L250AK ASD-CAPW000 ASMT01L250BK ASD-CAPW010 ASMT02L250AK ASD-CAPW000 ASMT02L250BK ASD-CAPW010 ASMT04L250AK ASD-CAPW000 ASMT04L250BK ASD-CAPW010 ASMT07L250AK ASD-CAPW000 ASMT07L250BK ASD-CAPW010

3m 5m 3 3 3 3 5 5 5 5 5 5 5 5 5 5 5 5 5

connector 0 0 0 0 0
ASD-CAEN000

3m 5m conn

ASMT10L250AK ASD-CAPW100 3 ASMT10L250BK ASD-CAPW110 3 ASMT10M250AK ASD-CAPW100 3 ASMT10M250BK ASD-CAPW110 3 ASMT15L250AK ASD-CAPW100 3 ASMT15L250BK ASD-CAPW110 3 ASMT15M250AK ASD-CAPW100 3 ASMT15M250BK ASD-CAPW110 3 ASMT20L250AK ASD-CAPW120 ASMT20L250BK ASD-CAPW130 ASMT20M250AK ASD-CAPW220 ASMT20M250BK ASD-CAPW230 ASMT30L250AK ASD-CAPW120 ASMT30L250BK ASD-CAPW130 ASMT30M250AK ASD-CAPW220 ASMT30M250BK ASD-CAPW230 3

ASD-CARS0003

0 0 0 ASD-CAPW1000
ASD-CAEN100

3 3 3

5 5 5

ASD-CAPW2000 ASD-CAPW1000 ASD-CAPW2000

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ASD-CNSC0050

Datasheet ASD-A

Programming
Group P0-xx Monitor Parameters Software version, Fault code, Drive status, Analogue Monitor output function, Block data read/write registers. Basic Parameters Pulse input, Control mode, Analogue Monitor output setting, Smoothing filter, Speed commands/limits, Torque commands/limits, Position commands, Stop mode, Acc/Dec times, Brake control, Electronic gear, Homing, Brake resistor properties, etc. Extension Parameters Speed/Position gain settings, Password, Digital In/Output functions, Timers, 2nd-4th Gear ratio, etc. Communication Parameters Address, Protocol, Speed, Fault treatment, Response delay, etc. Diagnosis Parameters Fault record, Jogging, Factory settings for analogue inputs and current sensors, Analogue input and monitor offsets.

Group P1-xx

Group P2-xx

Group P3-xx

Group P4-xx

Features
Operation modes: Position: P-curve profile, P-to-P single-axis control (8 Preset positions), Absolute/Incremental position control, Position learning and Home search capability S-curve profile, Speed limit, 3 Preset speeds Torque limit, 3 Preset torques User defined loop gains Robust mode for wide range of external loads with 10 levels of system stiffness Continuous loop gain adjustment according to measured inertia with 10 system bandwidth levels

Speed: Torque: Gain adjustment modes: Manual: Easy Auto:

Low pass filter for position/speed/torque modes Low pass/notch filters for resonant suppression Built in RS-232/485/422 interface with Modbus protocol, Capable of 254 axis of synchronous connection, Motor encoder pulse output (scalable), Onboard numeric display and keypad Parameter management, Protection function, Fault display and memory, Status monitor of all I/O points, System Analysis, Diagnosis

Selection software
Software To select the right Delta AC Servo system. Download from www.euro.delta-corp.com [Products] [Electromechanical] [AC Servo Drive Systems] [Download] [Software: AC Servo Software (capacity)]. Save in a folder and execute set up.

www.euro.delta-corp.com

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