Datasheet ASD-A

DELTA ELECTRONICS, INC. 1of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Datasheet ASD-A Version1 Oct2005.doc

Type number key

ASD -A 07 21 L AVersion number

Motor InertiaL=Low M=Medium

Input voltage21=230VAC 123=230VAC 3Output Power01=100W 07=750W10=1kW 30=3kW, etc.

ASD-A series

Delta AC Servo Drive

230V 0.1 ~ 0.4kWType number ASD-A 0121LA 0221LA 0421LARated power kW 0.1 0.2 0.4Mains voltage VAC 230 (1/3 phase)Rated output current A RMS 1.1 1.7 3.3Max. output current A RMS 3 4.9 9.3Overload capacity % 200% 8s 300% 2.8sSpeed range (max) rpm 3000 (5000)Dimensions HxWxD mm 162x75x140Size * ASD1Weight kg 1.5Power cable section (R,S,T and U,V,W) mm2 2Cooling ConvectionBrake chopper YesInternal brake resistor /W 40/60External min. brake resistor value 40 20* See dimensional drawing on Page 5~6.

Datasheet ASD-A

DELTA ELECTRONICS, INC. 2of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

230V 0.75 ~ 1.5kWType number ASD-A 0721LA 1021LA 1021MA 1521LA 1521MARated power kW 0.75 1.0 1.0 1.5 1.5Mains voltage VAC 230 (1/3 phase)Rated output current A RMS 5 6.8 5.6 9.5 10.6Max. output current A RMS 14.1 18.7 17.6 26.7 30.3Overload capacity % 200% 8s 300% 2.8s 200% 16s 300% 5.6sSpeed range (max) rpm 3000 (5000)Dimensions HxWxD mm 162x75x140Size * ASD2Weight kg 2Power cable section (R,S,T and U,V,W) mm2 2Cooling FanBrake chopper YesInternal brake resistor /W 40/60External min. brake resistor value 20* See dimensional drawing on Page 5~6.

230V 2.0 ~ 3.0kWType number ASD-A 2023LA 2023MA 3023LA 3023MARated power kW 2 2 3 3Mains voltage VAC 230 (3-phase)Rated output current A RMS 13.4 13.1 18.9 17.4Max. output current A RMS 38.4 31.4 55 42.3Overload capacity % 200% 16s 300% 5.6sSpeed range (max) rpm 3000 (4500)Dimensions HxWxD mm 245x110x206Size * ASD3Weight kg 3Power cable section (R,S,T and U,V,W) mm2 2 3.5Cooling FanBrake chopper YesInternal brake resistor /W 20/120External min. brake resistor value 10* See dimensional drawing on Page 5~6.

Datasheet ASD-A

DELTA ELECTRONICS, INC. 3of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Common data ASD-AMains voltage range VAC 230V: 200 ~ 255 (1-phase)170 ~ 255 (3-phase)Mains frequency Hz 50Hz5%Output rated speed range rpm 0 ~ 3000Control SVPWMOperating temperature C 0 ~ +55Storage temperature C -20 ~ +65Atmospheric pressure kPa 86 ~ 106Relative humidity % 95 (non condensing)Vibration

Datasheet ASD-A

DELTA ELECTRONICS, INC. 4of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Performance data ASD-A*

General

Protections

OvercurrentOvervoltageUndervoltageOverheating

OverloadExcessive speed/position error

Encoder errorRegeneration error

Communication errorMemory error

Watchdog

Speed Control ModeOutput speed control range 1:5000Command source Analogue input or internal parametersSmoothing strategy Low-pass and S-curve filterTorque limiting Analogue input or internal parametersFrequency response characteristic 450Hz max

Speed fluctuation **

0.01% @rated speed whenload 0 ~ 100% orpower fluctuation10% orambient temp 0 ~ 50C

Torque Control ModeCommand source Analogue input or internal parametersSmoothing strategy Low-pass filterSpeed limiting Analogue input or internal parameters

Position Control Mode

Pulse typePulse + Direction

A-phase + B-phaseCCW-pulse + CW-pulse

Command source Pulse train input or internal parametersSmoothing strategy Low-pass and P-curve filter

Electronic gear N/M multiple:1/50

Datasheet ASD-A

DELTA ELECTRONICS, INC. 5of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Sizes and dimensions in mm

Size ASD1

Size ASD2

Datasheet ASD-A

DELTA ELECTRONICS, INC. 6of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Sizes and dimensions in mm [inches]

Size ASD3

Power terminals (general)

Terminal symbol Terminal functionL1, L2 Mains control supply inputR, S, T Mains power inputU, V, W Motor output

P, D, C

Internal resistor:P-D shorted, P-C open

External resistor:P-D open, P-C resistor

Datasheet ASD-A

DELTA ELECTRONICS, INC. 7of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Basic wiring diagram

0.1 ~ 1.5kW

0.11.5kW 1/3 phase 230V

Datasheet ASD-A

DELTA ELECTRONICS, INC. 8of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

2.0 ~ 3.0kW

Datasheet ASD-A

DELTA ELECTRONICS, INC. 9of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Connection examples

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

Speed Control Mode Torque Control Mode

Datasheet ASD-A

DELTA ELECTRONICS, INC. 10of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Connector layout and pin-designation

CN1 I/O

125

5026

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

CN2 Encoder110

2011

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

Datasheet ASD-A

DELTA ELECTRONICS, INC. 11of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

CN3 Serial Communication

531

642

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

RS232

RS485 RS422

Datasheet ASD-A

DELTA ELECTRONICS, INC. 12of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Cables & connectors

Externalbrake resistor

(option)

Motors750Whave leads withconnectors.Motors1kW haveintegrated chassisconnectors.

Motor cable

3kW

Power Drive Motor Motor cable Encoder cable

CN2

Drive-computer

cableCN3

I/OConnector

CN1

kW 3m 5m connector 3m 5m conn 3m

ASMT01L250AK ASD-CAPW0000.1 ASD-A0121LA

ASMT01L250BK ASD-CAPW0103 5 0

ASMT02L250AK ASD-CAPW0000.2 ASD-A0221LA

ASMT02L250BK ASD-CAPW0103 5 0

ASMT04L250AK ASD-CAPW0000.4 ASD-A0421LA

ASMT04L250BK ASD-CAPW0103 5 0

ASMT07L250AK ASD-CAPW0000.75 ASD-A0721LA

ASMT07L250BK ASD-CAPW0103 5 0

AS

D-C

AE

N00

0

3 5 0

ASMT10L250AK ASD-CAPW100 3 5ASD-A1021LA

ASMT10L250BK ASD-CAPW110 3 50

ASMT10M250AK ASD-CAPW100 3 51

ASD-A1021MAASMT10M250BK ASD-CAPW110 3 5

0

ASMT15L250AK ASD-CAPW100 3 5ASD-A1521LA

ASMT15L250BK ASD-CAPW110 3 50

ASMT15M250AK ASD-CAPW100 3 51.5

ASD-A1521MAASMT15M250BK ASD-CAPW110 3 5

0

ASMT20L250AK ASD-CAPW120ASD-A2023LA

ASMT20L250BK ASD-CAPW1303 5 ASD-CAPW1000

ASMT20M250AK ASD-CAPW2202

ASD-A2023MAASMT20M250BK ASD-CAPW230

3 5 ASD-CAPW2000

ASMT30L250AK ASD-CAPW120ASD-A3023LA

ASMT30L250BK ASD-CAPW1303 5 ASD-CAPW1000

ASMT30M250AK ASD-CAPW2203

ASD-A3023MAASMT30M250BK ASD-CAPW230

3 5 ASD-CAPW2000

AS

D-C

AE

N10

0

3 5 0

AS

D-C

AR

S00

03

AS

D-C

NS

C00

50

Datasheet ASD-A

DELTA ELECTRONICS, INC. 13of13 Delta reserves the right to makeALL RIGHTS RESERVED changes without prior notice

Programming

Group P0-xx Monitor ParametersSoftware version, Fault code, Drive status, Analogue Monitor output function, Block dataread/write registers.

Group P1-xx Basic ParametersPulse input, Control mode, Analogue Monitor output setting, Smoothing filter, Speedcommands/limits, Torque commands/limits, Position commands, Stop mode, Acc/Dec times,Brake control, Electronic gear, Homing, Brake resistor properties, etc.

Group P2-xx Extension ParametersSpeed/Position gain settings, Password, Digital In/Output functions, Timers, 2nd-4th Gearratio, etc.

Group P3-xx Communication ParametersAddress, Protocol, Speed, Fault treatment, Response delay, etc.

Group P4-xx Diagnosis ParametersFault record, Jogging, Factory settings for analogue inputs and current sensors, Analogueinput and monitor offsets.

Features

Operation modes: Position: P-curve profile, P-to-P single-axis control (8 Preset positions),Absolute/Incremental position control, Position learning and Home searchcapability

Speed: S-curve profile, Speed limit, 3 Preset speedsTorque: Torque limit, 3 Preset torques

Gain adjustment Manual: User defined loop gainsmodes: Easy Robust mode for wide range of external loads with 10 levels of system

stiffnessAuto: Continuous loop gain adjustment according to measured inertia with 10

system bandwidth levels

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 ServoSoftware (capacity)]. Save in a folder and execute set up.

www.euro.delta-corp.com