Delta Servo
- Details
- Category: Delta Servo
- Published on Monday, 15 September 2014 07:51
- Written by Super User
- Hits: 1849
High End Servo System (0.1 KW ~ 15 KW)
-
- Full-close control
- High resolution encoder (20-bit level, 1280000 pulse/ rev)
- EtherCAT
- Extension DI (total 14 Inputs)
- Gantry control
- High bandwidth to 1KHz and auto resonance suppression
Features
Full-closed Loop Control
Full close loop control function – Reduce the effect of backlash and flexibility from the machine and ensures the accuracy of positioning.
Versatile PR mode
• ASDA-Soft configuration software supported.
• New sub-modes supported, not traditional point-to-point control.
• 64 procedures can be applied.
• Motion profile can be changed instantaneously.
• Homing modes/Jump mode/Write parameter mode/Constant speed mode/Position control mode supported.
Gantry Control
simple wiring
EtherCAT
Delta's ASDA-A2-E, an advanced AC Servo Drive with an EtherCAT communication interface, complies with IEC61158 and IEC61800-7 to enable faster, real-time,and accurate performance in high-end applications.
Specifications
Servo Motor Specifications
Low Inertia Series (Incremental)
| ECMA Series - 220V Series |
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| CΔ04 | CΔ06 | CΔ 08 | CΔ09 | CΔ10 | CΔ 13 | |||||
| 01 |
02 | 04 | 04 | 07 | 07 | 10 | 10 | 20 | 30 | |
| Rated output power (kW) |
0.1 | 0.2 | 0.4 | 0.4 | 0.75 | 0.75 | 1.0 | 1.0 | 2.0 | 3.0 |
| Rated torque (N-m)*¹ |
0.32 | 0.64 | 1.27 | 1.27 | 2.39 | 2.39 | 3.18 | 3.18 | 6.37 | 9.55 |
| Maximum torque (N-m) |
0.96 | 1.92 | 3.82 | 3.82 | 7.16 | 7.14 | 8.78 | 9.54 | 19.11 | 28.65 |
| Rated speed (r/min) |
3000 | 3000 | 3000 | 3000 | ||||||
| Maximum speed (r/min) |
5000 | 3000 | 5000 | 4500 | ||||||
| Rated current (A) | 0.90 | 1.55 | 2.6 | 2.6 | 5.1 | 3.66 | 4.25 | 7.3 | 12.05 | 17.2 |
| Maximum current (A) |
2.70 | 4.65 | 7.8 | 7.24 | 15.3 | 11 | 12.37 | 21.9 | 36.15 | 47.5 |
| Power rating (kW/s) | 27.7 | 22.4 | 57.6 | 22.1 | 48.4 | 29.6 | 38.6 | 38.1 | 90.6 | 71.8 |
| Rotor moment of inertia (x10-4kg-m2) | 0.037 | 0.177 | 0.277 | 0.68 | 1.13 | 1.93 | 2.62 | 2.65 | 4.45 | 12.7 |
| Mechanical time constant (ms) | 0.75 | 0.80 | 0.53 | 0.73 | 0.62 | 1.72 | 1.20 | 0.74 | 0.61 | 1.11 |
| Torque constant-KT (N-m/A) | 0.36 | 0.41 | 0.49 | 0.49 | 0.47 | 0.65 | 0.75 | 0.44 | 0.53 | 0.557 |
| Voltage constant-KE (mV/(r/min)) | 13.6 | 16 | 17.4 | 18.5 | 17.2 | 27.5 | 24.2 | 16.8 | 19.2 | 20.98 |
| Armature resistance (Ohm) | 9.30 | 2.79 | 1.55 | 0.93 | 0.42 | 1.34 | 0.897 | 0.20 | 0.13 | 0.0976 |
| Armature inductance (mH) | 24.0 | 12.07 | 6.71 | 7.39 | 3.53 | 7.55 | 5.7 | 1.81 | 1.50 | 1.21 |
| Electrical time constant (ms) | 2.58 | 4.3 | 4.3 | 7.96 | 8.36 | 5.66 | 6.35 | 9.3 | 11.4 | 12.4 |
| Insultation class | Class A (UL), Class B (CE) | |||||||||
| Insultation resistance | 100MΩ, DC 500V |
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| Insulation strength | AC 1500 V, 60 seconds |
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| Weight (kg) (without brake) |
0.5 | 1.2 | 1.6 | 2.1 | 3.0 | 2.9 | 3.8 | 4.3 | 6.2 | 7.8 |
| Weight (kg) (with brake) |
0.8 | 1.5 | 2.0 | 2.9 | 3.8 | 3.69 | 5.5 | 4.7 | 7.2 | 9.2 |
| Max. radial shaft load (N) |
78.4 | 196 | 196 | 245 | 245 | 245 | 245 | 490 | 490 | 490 |
| Max. thrust shaft load (N) |
39.2 | 68 | 68 | 98 | 98 | 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 | 82 | 65.1 |
| Rotor moment of inertia (x10-4kg-m2) (with brake) |
0.04 | 0.192 | 0.30 | 0.73 | 1.18 | 1.95 | 2.67 | 3.33 | 4.95 | 14.0 |
| Mechanical time constant (ms) (with brake) |
0.81 | 0.85 | 0.57 | 0.78 | 0.65 | 1.74 | 1.22 | 0.93 | 0.66 | 1.22 |
| Brake holding torque [Nt-m (min)] |
0.3 | 1.3 | 1.3 | 2.5 | 2.5 | 2.5 | 2.5 | 8 | 8 | 10.0 |
| Brake power consumption (at 20°C) [W] |
7.2 | 6.5 | 6.5 | 8.2 | 8.2 | 8.2 | 8.2 | 18.5 | 18.5 | 19.0 |
| Brake release time [ms (Max)] |
5 | 10 | 10 | 10 | 10 | 10 | 10 | 10 | 10 | 10 |
| Brake pull-in time [ms (Max)] |
25 | 70 | 70 | 70 | 70 | 70 | 70 | 70 | 70 | 70 |
| Vibration grade (µm) |
15 | |||||||||
| Operating temperature (°C) |
0°C to 40°C (32°F to 104°F) | |||||||||
| Storage temperature (°C) |
-10°C to 80°C (-14°F to 176°F) | |||||||||
| Operating humidity |
20 to 90% RH (non-condensing) | |||||||||
| Storage humidity |
20 to 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)) |
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| Approvals |   |
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Part Numbering System
Model Type
|
TYPE |
PR Mode |
E-Cam |
I/O Extension |
EtherCAT/STO |
CANopen |
DMCNET |
|
A2-F |
Yes |
No |
No |
No |
No |
Yes |
|
A2-E |
Yes |
Yes |
No |
Yes |
No |
No |
|
A2-M |
Yes |
Yes |
No |
No |
Yes |
No |
|
A2-U |
Yes |
Yes |
Yes |
No |
No |
No |
|
A2-L |
Yes |
No |
No |
No |
No |
No |
F: DMCNET E: EtherCAT M: CANopen U: Without CANopen L: Pulse Train and analog control
