High Performance‧
‧‧
‧Precise Position
Control‧
‧‧
‧High Resolution AC Servo Drive
for Communication Network Applications
Instruction Sheet
General Precautions
This instruction sheet will be helpful in the installation, wiring, inspection, and operation of Delta ASDA-A2 series AC servo drive and ECMA
series servo motor. Before using the product, please read this instruction sheet to ensure correct use. You should thoroughly understand all
safety precautions before proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta
sales representative. Place this instruction sheet in a safe location for future reference. Please observe the following precautions:
Do not use the product in a potentially explosive environment.
Install the product in a clean and dry location free from corrosive and inflammable gases or liquids.
Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution will damage either
the Servo motor or drive.
Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical
standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.).
Do not disconnect the AC servo drive and motor while the power is ON.
Do not attach, modify or remove wiring when power is applied to the AC servo drive and motor.
Before starting the operation with a mechanical system connected, make sure the emergency stop equipment can be energized
and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result in serious personnel injury.
Further information on the AC servo drive and motor can be obtained from the manual. You can download the manual via the link
http://www.delta.com.tw/industrialautomation/ above in PDF format.
The content of this instruction sheet may be revised without prior notice. Please consult our distributors or download the most updated
version at http://www.delta.com.tw/industrialautomation/.
Safety Precautions
Carefully note and observe the following safety precautions when receiving, inspecting, installing, operating, maintaining and
troubleshooting. The following words, DANGER, WARNING and STOP are used to mark safety precautions when using the Delta’s servo
product. Failure to observe these precautions may void the warranty!
ASDA-A2 series drives are high-resolution, open type servo drives and must be installed in an NEMA enclosure such as a protection control
panel during operation to comply with the requirements of the international safety standards. They are provided with precise feedback
control and high-speed calculation function incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase
permanent magnet synchronous motors (PMSM) to achieve precise positioning by means of accurate current output generated by IGBT
(Insulated Gate Bipolar Transistor).
ASDA-A2 series drives can be used in industrial applications and for installation in an end-use enclosure that do not exceed the
specifications defined in the ASDA-A2 series user manual (Drives, cables and motors are for use in a suitable enclosure with a minimum of
a UL50 type 1 or NEMA 250 Type 1 rating).
Unpacking Check
Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to observe this
precaution may cause fire, seriously damage the drive / motor or cause personal injury.
Installation
Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to observe
this caution may result in electric shock, fire, or personal injury.
Wiring
Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100Ω). Improper grounding may
result in electric shock or fire.
Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in serious
injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor. Failure
to observe this caution may result in damage, fire or personal injury.
In order to prevent fire hazard and accidents, please form the wiring by following the cable specifications outlined in this
quick start.
Operation
Before starting operation with a mechanical system connected, change the drive parameters to match the user-defined
parameters of the mechanical system. Starting the operation without matching the correct parameters may result in servo
drive or motor damage, or damage to the mechanical system.
Ensure that the emergency stop equipment or device is connected and working correctly before operating the motor that
is connected to a mechanical system.
Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe this precaution may
cause serious personal injury.
In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions (separate
the motor from its couplings and belts).
For the initial trial run, do not operate the servo motor while it is connected to its mechanical system. Connecting the
motor to its mechanical system may cause damage or result in personal injury during the trail run. Connect the servo
motor once it has successfully completed a trail run.
Caution: Please perform trial run without load first and then perform trial run with load connected. After the servo motor is
running normally and regularly without load, then run servo motor with load connected. Ensure to perform trial run in this
order to prevent unnecessary danger.
Do not touch either the drive heat sink or the motor during operation as they may become hot and personal injury may
result.
Maintenance and Inspection
Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result.
Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock
may result.
Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing any
wiring and/or inspection as an electrical charge may still remain in the servo drive and servo motor with hazardous
voltages even after power has been removed.
Do not disassemble the servo drive or motor as electric shock may result.
Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Ensure that the “Charge” indicator ceases when performing any maintenance, inspection or repairing.
Main Circuit Wiring
Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the conduits
by 30cm (11.8inches) above.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG) feedback cables. The
maximum length of command input cable is 3m (9.84ft.) and the maximum length of encoder (PG) feedback cables is
20m (65.62ft.).
As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to wait at
least 10 minutes after power has been removed before performing any wiring and/or inspection.
It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once per
minute as high charging currents within the internal capacitors may cause damage.
Main Circuit Terminal Wiring
Please perform the wiring after the terminal blocks are all removed from the drive.
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
Ensure to double check the wiring before applying power to the drive.
Servo Drive and Servo Motor Combinations
Power Servo Drive Servo Motor
100W ASD-A2-0121-
ECMA-C△0401S（S=8mm）
ECMA-C1040FS（S=8mm）
200W ASD-A2-0221-
ECMA-C△0602S（S=14mm）
400W ASD-A2-0421-
ECMA-C△0604S（S=14mm）
ECMA-C△0604H ( H=High Inertia)
ECMA-C△08047（7=14mm）
ECMA-E△1305S（S=22mm）
ECMA-G△1303S（S=22mm）
750W ASD-A2-0721-
ECMA-F11305S（S=22mm）
ECMA-C△0807S（S=19mm）
ECMA-C△0807H ( H= High Inertia)
ECMA-C△0907S（S=16mm）
ECMA-G△1306S（S=22mm）
1000W ASD-A2-1021-
ECMA-C△0910S（S=16mm）
ECMA-C△1010S（S=22mm）
ECMA-E△1310S（S=22mm）
ECMA-F△1308S（S=22mm）
ECMA-G△1309S（S=22mm）
1500W ASD-A2-1521-
ECMA-E△1315S（S=22mm）
2000W ASD-A2-2023-
ECMA-C△1020S（S=22mm）
ECMA-E△1320S（S=22mm）
ECMA-E△1820S（S=35mm）
ECMA-F11313S（S=22mm）
ECMA-F11318S（S=22mm）
3000W ASD-A2-3023-
ECMA-C△13304（4=24mm）
ECMA-E△1830S（S=35mm）
ECMA-E△1835S（S=35mm）
ECMA-F△1830S（S=35mm）
4500W ASD-A2-4523-
ECMA-F△1845S（S=35mm）
5500W ASD-A2-5523-
ECMA-F△18553（3=42mm）
7500W ASD-A2-7523-
ECMA-F△18753（3=42mm）
11kW ASD-A2-1B23-
ECMA-F△221B3（3=42mm）
15kW ASD-A2-1F23-
ECMA-F△221FS（S=55mm）
1) The boxes () at the ends of the servo drive model names are for optional configurations (Full-closed loop, CANopen and
extension DI port). For the actual model name, please refer to the ordering information of the actual purchased product.
2) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental, 20-bit. △=2, incremental,
17-bit. △=A , absolute.
3) The boxes () in the servo motor model names are for optional configurations (keyway, brake and oil seal).
Cable Specifications for Servo Drive
Power Cable - Wire Gauge mm
2
(AWG)
Servo Drive and Servo Motor
L1c, L2c R, S, T U, V, W
P , C
ECMA-C1040FS
ASD-A2-0121-
ECMA-C△0401S
ASD-A2-0221-
ECMA-C△0602S
ECMA-C△0604S
ECMA-C△0604H
ECMA-C△08047
ECMA-E△1305S
ASD-A2-0421-
ECMA-G△1303S
1.3（AWG16） 2.1（AWG14） 0.82（AWG18）
2.1（AWG14）
ECMA-F11305S
ECMA-C△0807S
ECMA-C△0807H
ECMA-C△0907S
ASD-A2-0721-
ECMA-G△1306S
1.3（AWG16） 2.1（AWG14） 0.82（AWG18）
2.1（AWG14）
ECMA-C△0910S
ECMA-C△1010S
ECMA-E△1310S
ECMA-F△1308S
ASD-A2-1021-
ECMA-G△1309S
ASD-A2-1521-
ECMA-E△1315S
1.3（AWG16） 2.1（AWG14） 1.3（AWG16） 2.1（AWG14）
ECMA-C△1020S
ECMA-E△1320S
1.3（AWG16） 2.1（AWG14） 2.1（AWG14） 2.1（AWG14）
ECMA-E△1820S
ECMA-F11313S
ASD-A2-2023-
ECMA-F11318S
ECMA-C△13304
ECMA-E△1830S
ECMA-E△1835S
ASD-A2-3023-
ECMA-F△1830S
1.3（AWG16） 2.1（AWG14） 3.3（AWG12） 2.1（AWG14）
Power Cable - Wire Gauge mm
2
(AWG)
Servo Drive and Servo Motor
L1c, L2c R, S, T U, V, W
P , C
ASD-A2-4523-
ECMA-F△1845S
1.3（AWG16） 3.3（AWG12） 8.4（AWG8） 3.3（AWG12）
ASD-A2-5523-
ECMA-F△18553
1.3（AWG16） 3.3（AWG12） 13.3（AWG6） 3.3（AWG12）
ASD-A2-7523-
ECMA-F△18753
1.3（AWG16） 5.3（AWG10） 13.3（AWG6） 3.3（AWG12）
ASD-A2-1B23- ECMA-F1221B3
1.3（AWG16）
8.4(AWG8)
13.3（AWG6）
8.4（AWG8）
ASD-A2-1F23- ECMA-F1221FS
1.3（AWG16）
13.3(AWG6) 21.2(AWG4)
13.3（AWG6）
Encoder Cable - Wire Gauge mm
2
(AWG)
Servo Drive
Wire Size Core Number UL Rating Standard Wire Length
ASD-A2-0121-; ASD-A2-0221-
ASD-A2-0421-; ASD-A2-0721-
ASD-A2-1021-; ASD-A2-1521-
ASD-A2-2023-; ASD-A2-3023-
ASD-A2-4523-; ASD-A2-5523-
ASD-A2-7523-; ASD-A2-1B23-
ASD-A2-1F23-
0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
1) The boxes () at the ends of the servo drive model names are for optional configurations (Full-closed loop, CANopen and
extension DI port). For the actual model name, please refer to the ordering information of the actual purchased product.
2) The boxes () in the servo motor model names are for optional configurations (keyway, brake and oil seal).
3) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental, 20-bit. △=2, incremental,
17-bit. △=A , absolute.
4) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical noise and
interference.
5) The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked ) of the servo
drive.
6) In order to prevent fire hazard and accidents, please form the wiring by following the cable specifications outlined above.
Installation and Storage Conditions
The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC drive should be stored
properly when it is not to be used for an extended period of time. Some storage suggestions are:
Store in a clean and dry location free from direct sunlight.
Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
Store within a relative humidity range of 0% to 90% and non-condensing.
Do not store in a place subjected to corrosive gases and liquids.
Correctly packaged and placed on a solid surface.
Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airborne dust or metallic particles.
Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification.
Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.
Do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation.
Installation Note and Minimum Clearances
Installation Note:
Incorrect installation may result in a drive malfunction or premature
failure of the drive and or motor. Please follow the guidelines in this
instruction when installing the servo drive and motor.
The AC servo drive should be mounted perpendicular to the wall or
in the control panel.
In order to ensure the drive is well ventilated, ensure that the all
ventilation holes are not obstructed and sufficient free space is
given to the servo drive.
Do not install the drive in a horizontal position or malfunction and
damage will occur.
Minimum Clearances: Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When installing two or
more drive adjacent to each other please follow the clearances as shown in the following diagram.
100W ~ 3kW models:
20mm
(0.8in)
min.
50mm
(2.0in)
min.
20mm
(0.8in)
min.
50mm
(2.0in)
min.
80mm
(3.2in)
min.
FAN FAN
Air Flow
100mm
(4.0in)
min.
100mm
(4.0in)
min.
100mm
(4.0in)
min.
100mm
(4.0in)
min.
Air Flow Air Flow
2mm
(0.08in)
min.
2mm
(0.08in)
min.
5mm
(0.2in)
min.
5mm
(0.2in)
min.
2mm
(0.08in)
min.
2mm
(0.08in)
min.
5mm
(0.2in)
min.
5mm
(0.2in)
min.
80mm
(3.2in)
min.
80mm
(3.2in)
min.
Air Flow
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