www.deltaww.com

Delta Robot Controller with Servo Drive Integrated ASDA-MS Series

Automation for a Changing World

1

System Configuration

PAD

DELTA Robot

SCARA Robot

RobotPC Software

ASDA-MS

Ethernet

DMCNET

Users

Handheld Type HMIDOP-H

External Axes

Complete Robot Solution ■ Up to 10 axes motion control: 4-axis robot + 6 external axes

■ Supports various communication interfaces

■ Built-in diverse robot control modules

■ Supports IEC 61131-3 standard for five kinds of programming languages

■ Supports the PLCopen motion function block

■ Offers DRL Languages for developing robot application programs

■ Supports G-code programming for path planning

ASDA-A2-FASDA-M-FAC Servo Drives & Motors

ECMAECMA

2

All-in-One Robot Controller

PAD

SCARA Robot

RobotPC Software

ASDA-MS

Ethernet

Users

Handheld Type HMIDOP-H Control Structure

■ 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

3

DELTA RobotSCARA Robot

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

ASDA-MS

Robot Controller

Robot Solution

Handheld Type HMIDOP-H

Machine Vision SystemDMV

PLCAH500

AC Servo Drives & MotorsASDA-A2 & ECMA

AC Servo Drives & MotorsASDA-M & ECMA

IndustryElectrical/electronics, rubber and plastic, packaging, metal fabrication and others.

ApplicationsInsertion, screw driving, assembly, glue dispensing, coating, soldering, load and unload, pick-and-place, stacking, packaging, and inspection

4

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

DRAS Software (Delta Robot Automation Studio)

Intelligent Robot Calibration

即時監控示波器

Easy and Simple Robot Teaching

Real-time Monitoring Oscilloscope

5

Ordering Information ► ASDA-MS Series Controller

► ECMA Series Servo Motors

ASD - MS - 0721 - FMS Series

Rated Output Power, Input Voltage and Phase0721 : 750 W ; 220 V 1-phase / 3-phase1523 : 1.5 kW ; 220 V 3-phase

CommunicationF : DMCNET

ECM A - C 1 06 02 E SS: Standard Shaft DiameterH: Specific Shaft Diameter / High Inertia Model

Driving TypeA : AC Servo Motor

Product NameECM : Electrical Commutation Motor

Encoder Type1 : Incremental encoder, 20-bit 2 : Incremental encoder, 17-bit A : Absolute encoder

Series Rated Voltage / Rated SpeedC : 220 V / 3000 r/minE : 220 V / 2000 r/minG : 220 V / 1000 r/min

Shaft Type andOil Seal

W/OBrake

W/O OilSeal

WithBrake

W/O OilSeal

W/OBrakeWith

Oil Seal

WithBrakeWith

Oil Seal

Round Shaft(with screw hole) - - C D

Keyway E F - -

Keyway (with screw hole) P Q R S

Rated Output Power01：100 W02：200 W03：300 W

04：400 W05：500 W06：600 W

07：750 W09：900 W10：1kW

Motor Frame Size04：40 mm06：60 mm08：80 mm

09：86 mm10：100 mm

13：130 mm18：180 mm

Product Line-up 　 Controller Servo Motors

750 W ASD-MS-0721-F

ECMA-C △ 0401 S（S = 8 mm）ECMA-C △ 0602 S（S = 14 mm）ECMA-C △ 0604 S（S = 14 mm）ECMA-C △ 0804 7（7 = 14 mm）ECMA-C △ 0807 S（S = 19 mm）

ECMA-C △ 0907 S（S = 16 mm）ECMA-E △ 1305 S（S = 22 mm）ECMA-G △ 1303 S（S = 22 mm）ECMA-G △ 1306 S（S = 22 mm）

1.5kW ASD-MS-1523-F

ECMA-C △ 0807 S（S = 19 mm）ECMA-C △ 0907 S（S = 16 mm）ECMA-C △ 0910 S（S = 16 mm）ECMA-C △ 1010 S（S = 22 mm）

ECMA-E △ 1310 S（S = 22 mm）ECMA-E △ 1315 S（S = 22 mm）ECMA-G △ 1309 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.

6

SpecificationsASDA-MS Series

750W (for 4 axes of control) 1.5kW (for 4 axes of control)

07 15

PowerSupply

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%

Control of Main Circuit 24 VDC, -10%~10%

Input Current (3PH) (Units: Arms)

12.4 24.8

Input Current(1PH) (Units: Arms)

23.8 44.5

Continuous Output Current (Units: Arms)

5.1 (for each axis) 8.3 (for each axis)

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

Robot Control

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 Memory16 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

Input / OutputStandard I/O User I/O: 24 Inputs, 12 Outputs

System I/O: 8 Inputs, 8 Outputs

Brake Output 4 Outputs

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

Environment

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 86 kPa ~ 106 kPa

Operating Temperature

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 × 2400 W × 2 45 ºC 1.5 kW × 2

750 W × 2 35 ºC

400 W × 4 50 ºC 750 W × 4 40 ºC

400 W × 2200 W × 2 55 ºC 750 W × 2

400 W × 2 45 ºC

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/s

2 (0.6G) 20 to 50 Hz

IP Rating IP20

Power System TN System*1

ApprovalsIEC/EN 61800-5-1, UL 508C, C-tick

*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.

DELTA_IA-ASDA_ASDA-MS_C_EN_20160120

Industrial Automation HeadquartersDelta Electronics, Inc. Taoyuan Technology Center18 Xinglong Road, Taoyuan District, Taoyuan City 33068, Taiwan (R.O.C.)TEL: 886-3-362-6301 / FAX: 886-3-371-6301

AsiaDelta Electronics (Jiangsu) Ltd.Wujiang Plant 31688 Jiangxing East Road, Wujiang Economic Development ZoneWujiang City, Jiang Su Province, P.R.C. 215200TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.238 Min-Xia Road, Pudong District, ShangHai, P.R.C. 201209TEL: 86-21-58635678 / FAX: 86-21-58630003 Delta Electronics (Japan), Inc.Tokyo Office 2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, JapanTEL: 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, 153-704TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.4 Kaki Bukit Ave 1, #05-05, Singapore 417939TEL: 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

AmericasDelta Products Corporation (USA)Raleigh OfficeP.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 OfficeRua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista01332-000-São Paulo-SP-BrazilTEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

EuropeDelta Electronics (Netherlands) B.V.Eindhoven OfficeDe 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.