Delta ASDA-B2 Series User manual

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AELT"
Asia

Zhangjiagang Haina Automation Equipment Co., Ltd.
Sales office
No. 11, Yuefeng Road, Economic Development Zone,
Zhangjiagang, Jiangsu, China (Mainland)
TEL:[phone] 008615262314665
EMAIL:[e-mail]

www.haina-auto.com
DELTA_IA-ASDA_B2_UM_EN_20180509

Revision May, 2018 i
Preface
Thank you for purchasing ASDA-B2. This user manual provides the related information of
ECMA series servo motors. This manual includes:
Installation and inspection of servo drive and servo motor
The configuration of servo drive
Procedures of trial run
Control functions and adjustment methods of servo drives
Parameter
Communication protocol
Inspection and maintenance
Troubleshooting
Application examples
This manual addresses personnel with the following qualifications:
Servo system designers
Installation or wiring personnel
Trial and tuning personnel
Maintenance and inspection personnel
Before using the product, please read through this manual carefully in order to ensure the
correct use of the product. In addition, please place this manual safely for quick reference
whenever is needed. Please follow the rules below if you have not finished reading this
manual yet.
No water, corrosive gas and inflammable gas are allowed in installation
environment.
Three-phase power is prohibited to connect to U, V and W connector when
wiring. It is possible to damage the servo 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 servo drive, motor or change the wiring when
connecting to the power.
Be ensured that the emergency stop can be activated any time before
connecting to the power and operation.

Preface ASDA-B2
ii Revision May, 2018
 Do not touch the heat sink to avoid scald before connecting to the power
and operation.
If you have any enquiry, please contact the distributors or Delta customer service center.
Safety Precautions
ASDA-B2 series is the high resolution and open type servo drive. It should be installed in a
shielded control box during operation. This servo drive uses precise feedback control and
the digital signal processor with high-speed calculation function to control the current
output which generated by IGBT so as to operate three-phase permanent magnet
synchronous motors (PMSM) and to achieve precise positioning.
ASDA-B2 is applicable on industrial application and is suggested to be installed in the
panel-board of the user manual. (Servo drives, wire rod and motors all should be installed
in the environment which complies with the minimum requirement of UL Level 1 or NEMA
250 Type 1.)
Pay special attention to the following safety precautions anytime during inspection,
installation, wiring, operation and examination.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal
harm if not follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to
serious damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or
cannot be used due to malfunction if not follow the instructions.
Inspection
 Please follow the instruction when using servo drive and servo motor, or it is
possible to cause fire or malfunction.
Installation
 It is prohibited to expose the product with the environment which containing
water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric
shock or fire.

ASDA-B2 Preface
Revision May, 2018 iii
Wiring
Please connect the ground terminal to class-3 ground system (under 100 Ω);
poor grounding may result in electric shock or fire.
Do not connect the three-phase source to the motor output terminal U, V and
W. Or it is possible to cause personnel injury or fire.
Please tighten the screws of the power and motor output terminal. Or it is
possible to cause fire.
Operation
Before the operation, please change the parameter setting value according to
the needs. If it is not adjusted to the correct setting value, it is possible to lead
to malfunction of the machine or the operation might out of control.
Before the machine starts to operate, please be ensured the emergency stop
can be activated anytime.
During the operation, it is prohibited to touch any rotating motor parts.
Or it is possible to cause personnel injury.
In order to prevent any accident, please separate the couplings and belts of the
machine and isolate them. Then conduct the initial trial run.
If users fail to operate the machine properly after the servo motor connects to
the equipment, it would cause the damage of the equipment and lead to the
personnel injury.
In order to prevent the danger, it is strongly recommended to check if the motor
can operate normally without load first. Then, operate the motor with load.
Do not touch the heat sink of the servo drive. Or it is possible to cause scald
due to the high temperature.
Maintenance and Inspection
It is prohibited to touch the internal parts of the servo drive and servo motor.
Or it is possible to cause electric shock.
It is prohibited to disassemble the panel of the servo drive when turning on
the power. Or it is possible to cause electric shock.
Do not touch the ground terminal within 10 minutes after turning off the
power. Or the residual voltage may cause electric shock.
Do not disassemble the motor. Or it is possible to cause electric shock or
personnel injury.
Do not change the wiring when the power is on. Or it is possible to cause
electric shock or personnel injury.
Only the qualified electrical and electronics professionals can install, wire
and maintain the servo drive and servo motor.

Preface ASDA-B2
iv Revision May, 2018
Main Circuit Wiring
 Do not put the power cable and the encoder cable in the same channel and
bond them together. Please separate the power cable and the encoder
cable for at least 30 centimeters (= 11.8 inches) when wiring.
 Please use stranded wires and multi-core shielded-pair wires for the
encoder cables and encoder feedback cables. The maximum length of
command input cable is 3 meters (= 9.84 feet) and the maximum length of
feedback cable is 20 meters (= 65.62 feet).
 The high voltage might remain in the servo motor even when the power is
off. Do not touch the power terminal temporally (at least 10 minutes).
Please conduct the inspection not until the indicator light, CHARGE is off.
 Do not turn the power on and off too often. If continuous power on and off is
needed, please be ensured the interval is one minute at most.
Terminal Wiring of the Main Circuit
 When wiring, please disassemble the terminal socket from the servo drive.
 One terminal of the terminal socket for one electric wire only.
 When inserting the electric wires, do not connect the conductor to the
adjacent wire.
 Before connecting to the power, please inspect and be ensured the wiring is
correct.
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.
NOTE

Revision May, 2018 v
Table of Contents
Chapter 1 Installation and Model Explanation ...................................................... 1-1
1.1 Inspection........................................................................................................ 1-1
1.2 Product Model................................................................................................. 1-2
1.2.1 Nameplate Information........................................................................... 1-2
1.2.2 Model Explanation.................................................................................. 1-3
1.3 Servo Drive and Corresponding Servo Motor.................................................. 1-5
1.4 Servo Drive Features ...................................................................................... 1-7
1.5 Control Modes of Servo Drive ......................................................................... 1-8
Chapter 2 Installation.............................................................................................. 2-1
2.1 Notes............................................................................................................... 2-1
2.2 Ambient Conditions of Storage........................................................................ 2-1
2.3 Ambient Conditions of Installation................................................................... 2-2
2.4 Installation Direction and Space...................................................................... 2-3
2.4.1 Troubleshooting for the Motor Operation and Status.............................. 2-5
2.4.2 Servo Motor Mounting Directions and Precautions ................................ 2-5
2.4.3 Precautions for Using Oil Seal Servo Motors ......................................... 2-6
2.4.4 Precautions for Using Couplings............................................................ 2-7
2.4.5 Oil and Water Prevention Measures for the Servo Motor....................... 2-8
2.4.6 Measures to Suppress Temperature Increase of the Servo Motor......... 2-8
2.5 Specification of Circuit Breaker and Fuse ....................................................... 2-9

Table of Contents ASDA-B2
vi Revision May, 2018
2.6 EMI Filter Selection......................................................................................... 2-10
2.7 Selection of Regenerative Resistor................................................................. 2-12
Chapter 3 Wiring...................................................................................................... 3-1
3.1 Connections .................................................................................................... 3-1
3.1.1 Connecting to Peripheral Devices.......................................................... 3-1
3.1.2 Servo Drive Connectors and Terminals.................................................. 3-2
3.1.3 Wiring Method........................................................................................ 3-4
3.1.4 Specification of Motor Power Cable ....................................................... 3-6
3.1.5 Specification of Encoder Connector....................................................... 3-8
3.1.6 Selection of Wiring Rod.......................................................................... 3-12
3.2 Basic Wiring .................................................................................................... 3-14
3.2.1 200 W (included) and Models below ...................................................... 3-14
3.2.2 400 W ~ 750 W Models.......................................................................... 3-15
3.2.3 1 kW ~ 3 kW Models .............................................................................. 3-16
3.3 I / O Signal (CN1) Connection......................................................................... 3-17
3.3.1 I/O Signal (CN1) Connector Terminal Layout......................................... 3-17
3.3.2 Signals Explanation of Connector CN1 .................................................. 3-19
3.3.3 Wiring Diagrams (CN1) .......................................................................... 3-27
3.3.4 DI and DO Signal Specified by Users..................................................... 3-34
3.4 CN2 Connector .............................................................................................. 3-35
3.5 Wiring of CN3 Connector ................................................................................ 3-37
3.6 Analog Monitor Output Connector - CN5......................................................... 3-38

ASDA-B2 Table of Contents
Revision May, 2018 vii
3.7 Standard Connection Example........................................................................ 3-39
3.7.1 Position (PT) Control Mode.................................................................... 3-39
3.7.2 Speed Control Mode .............................................................................. 3-40
3.7.3 Torque Control Mode ............................................................................. 3-41
Chapter 4 Panel Display and Operation................................................................. 4-1
4.1 Panel Description............................................................................................ 4-1
4.2 Parameter Setting Procedure.......................................................................... 4-2
4.3 Status Display ................................................................................................. 4-3
4.3.1 Save Setting Display .............................................................................. 4-3
4.3.2 Decimal Point......................................................................................... 4-3
4.3.3 Alarm Message ...................................................................................... 4-3
4.3.4 Positive and Negative Sign Setting ........................................................ 4-4
4.3.5 Monitor Display....................................................................................... 4-4
4.4 General Function............................................................................................. 4-7
4.4.1 Operation of Fault Code Display ............................................................ 4-7
4.4.2 JOG Mode.............................................................................................. 4-8
4.4.3 Force DO Output.................................................................................... 4-9
4.4.4 Digital Input Diagnosis Operation........................................................... 4-10
4.4.5 Digital Output Diagnosis Operation ........................................................ 4-10
Chapter 5 Trial Operation and Tuning ................................................................... 5-1
5.1 Inspection without Load................................................................................... 5-1
5.2 Applying Power to the Servo Drive.................................................................. 5-3
5.3 JOG Trial Run without Load............................................................................ 5-7

Table of Contents ASDA-B2
viii Revision May, 2018
5.4 Trial Run without Load (Speed Mode)............................................................. 5-8
5.5 Tuning Procedure............................................................................................ 5-10
5.5.1 Flowchart of Tuning Procedure .............................................................. 5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism)...................................... 5-12
5.5.3 Flowchart of Auto Tuning........................................................................ 5-13
5.5.4 Flowchart of Semi-Auto Tuning.............................................................. 5-14
5.5.5 Limit of Inertia Ratio ............................................................................... 5-15
5.5.6 Mechanical Resonance Suppression Method ........................................ 5-17
5.5.7 Tuning Modes and Parameters.............................................................. 5-18
5.5.8 Tuning in Manual Mode.......................................................................... 5-19
Chapter 6 Control Modes of Operation.................................................................. 6-1
6.1 Selection of Operation Mode........................................................................... 6-1
6.2 Position Mode ................................................................................................. 6-3
6.2.1 Position Command in PT Mode.............................................................. 6-3
6.2.2 Control Structure of Position Mode......................................................... 6-6
6.2.3 Electronic Gear Ratio ............................................................................. 6-8
6.2.4 Low-pass Filter....................................................................................... 6-10
6.2.5 Gain Adjustment of Position Loop.......................................................... 6-11
6.3 Speed Mode.................................................................................................... 6-14
6.3.1 Selection of Speed Mode ....................................................................... 6-14
6.3.2 Control Structure of Speed Mode........................................................... 6-15
6.3.3 Smoothing Speed Command ................................................................. 6-16
6.3.4 The Scaling of Analog Command........................................................... 6-20

ASDA-B2 Table of Contents
Revision May, 2018 ix
6.3.5 Timing Diagram in Speed Mode............................................................. 6-21
6.3.6 Gain Adjustment of Speed Loop............................................................. 6-21
6.3.7 Resonance Suppression ........................................................................ 6-28
6.4 Torque Mode................................................................................................... 6-36
6.4.1 Selection of Torque Command............................................................... 6-36
6.4.2 Control Structure of Torque Mode.......................................................... 6-37
6.4.3 Smooth Torque Mode............................................................................. 6-38
6.4.4 The Scaling of Analog Command........................................................... 6-38
6.4.5 Timing Diagram of Torque Mode............................................................ 6-40
6.5 Dual Modes..................................................................................................... 6-41
6.5.1 Speed / Position Dual Mode................................................................... 6-41
6.5.2 Speed / Torque Dual Mode .................................................................... 6-42
6.5.3 Torque / Position Dual Mode.................................................................. 6-42
6.6 Others ............................................................................................................. 6-43
6.6.1 The Use of Speed Limit.......................................................................... 6-43
6.6.2 The Use of Torque Limit......................................................................... 6-43
6.6.3 Analog Monitor....................................................................................... 6-44
6.6.4 The Use of Brake ................................................................................... 6-49
Chapter 7 Parameters.............................................................................................. 7-1
7.1 Parameter Definition........................................................................................ 7-1
7.2 Lists of Parameters ......................................................................................... 7-2
7.3 Parameter Description..................................................................................... 7-12
P0-xx Monitor Parameters............................................................................... 7-12

Table of Contents ASDA-B2
x Revision May, 2018
P1-xx Basic Parameters.................................................................................. 7-21
P2-xx Extension Parameters........................................................................... 7-51
P3-xx Communication Parameters.................................................................. 7-80
P4-xx Diagnosis Parameters........................................................................... 7-85
Table 7.1 Function Description of Digital Input (DI)......................................... 7-96
Table 7.2 Function Description of Digital Input Output (DO)............................ 7-102
Table 7.3 Monitoring Variables Descriptions ................................................... 7-105
Chapter 8 Communications.................................................................................... 8-1
8.1 RS-485 / RS-232 Communication Hardware Interface.................................... 8-1
8.2 RS-485 / RS-232Communication Parameter Settings..................................... 8-3
8.3 MODBUS Communication Protocol................................................................. 8-6
8.4 Write-in and Read-out Communication Parameters........................................ 8-18
Chapter 9 Troubleshooting..................................................................................... 9-1
9.1 Alarm of Servo Drive....................................................................................... 9-1
9.2 Causes and Corrective Actions....................................................................... 9-4
9.3 Corrective Actions after the Alarm Occurs ...................................................... 9-15
Chapter 10 Specifications....................................................................................... 10-1
10.1 Specifications of Servo Drives (ASDA-B2 Series)......................................... 10-1
10.2 Specifications of Servo Motors (ECMA Series) ............................................. 10-4
10.3 Torque Features (T-N Curves) ...................................................................... 10-12
10.4 Overload Features......................................................................................... 10-14
10.5 Dimensions of Servo Drives .......................................................................... 10-16
10.6 Dimensions of Servo Motors ......................................................................... 10-20

ASDA-B2 Table of Contents
Revision May, 2018 xi
Appendix A Accessories ........................................................................................ A-1
Appendix B Maintenance and Inspection.............................................................. B-1

Table of Contents ASDA-B2
xii Revision May, 2018
About this Manual…
User Information
Be sure to store this manual in a safe place.
Due to constantly growing product range, technical improvement, alteration or changed
texts, figures and diagrams, we reserve the right to make information changes within this
manual without prior notice.
Coping or reproducing any part of this manual, without written consent of Delta Electronics
Inc. is prohibited.
Technical Support and Service
Welcome to contact us or visit our web site (http://www.delta.com.tw/ia/) if you need any
technical support, service and information, or, if you have any question in using the
product. We are looking forward to serve you needs and willing to offer our best support
and service to you. Reach us by the following ways.
ASIA
DELTA ELECTRONICS, INC.
Taoyuan Plant 3
No.18, Xinglong Rd.,
Taoyuan City, Taoyuan County 33068,
TAIWAN, R.O.C.
TEL: [phone]
FAX: [phone]
NORTH/SOUTH AMERICA
DELTA PRODUCTS CORPORATION (USA)
Raleigh Office
P.O. BOX 12173
5101 DAVIS DRIVE,
RESEARCH TRIANGLE PARK, NC 27709,
U.S.A.
TEL: [phone]
FAX: [phone]
JAPAN
DELTA ELECTRONICS (JAPAN), INC.
Tokyo Office
DELTA SHIBADAIMON BUILDING
2-1-14 SHIBADAIMON, MINATO-KU,
TOKYO, 105-0012, JAPAN
TEL: [phone]
FAX: [phone]
EUROPE
DELTA ELECTRONICS (NETHERLANDS) B.V.
Eindhoven Office
DE WITBOGT 20, 5652 AG EINDHOVEN,
THE NETHERLANDS
TEL: [phone]
FAX: [phone]

Revision May, 2018 1-1
Chapter 1 Installation and Model
Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.
Item Content
Please check if the
product is what you have
purchased
Check the part number of the motor and the servo drive on
the nameplate. Refer to the section 1.2 for the model
explanation.
Check if the motor shaft
can rotate smoothly
Rotate the motor shaft by hand. If it can be rotated
smoothly, it means the motor shaft is normal. However, it
cannot be rotated by hand if the motor has an
electromagnetic brake.
Check if there is any
damage shown on its
appearance
Visually check if there is any damage or scrape of the
appearance.
Check if there is any loose
screw If the screws are un-tightened or fall off.
If any of the above situations happens, please contact the distributors to solve the
problems.
A complete and workable servo set should include:
(1) A Servo drive and a servo motor
(2) A UVW motor power cable, red (U), white (V) and black (W) wires can connect to
the socket attached by the servo drive. And a green ground wire which should be
locked to the ground terminal of the servo drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it
connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) 44-PIN connector which is used in CN1 (CviLux analog product) (selective
purchase)
(5) 9-PIN connector which is used in CN2 (CviLux analog product) (selective purchase)
(6) 6-PIN connector which is used in CN3 (CviLux analog product) (selective purchase)

Chapter 1 Installation and Model Explanation ASDA-B2
1-2 Revision May, 2018
1.2 Product Model
1.2.1 Nameplate Information
ASDA-B2 Series Servo Drive
Nameplate Information
Serial Number
ECMA Series Servo Motor
Nameplate Information
Serial Number

ASDA-B2 Chapter 1 Installation and Model Explanation
Revision May, 2018 1-3
1.2.2 Model Explanation
ASDA-B2 Series Servo Drive
ASD-B2-0421-
□
Model Type
Type Full-Closed
Control EtherCAT CANopen DMCNET E-CAM Extension Port for Digital Input
B × × × × × ×
Input Voltage and Phase
21: 220V 1 phase
23: 220V 3 phase
Model Type
Product Series
B2
Product Name
AC SERVO Drive
Rated Power Input
01: 100W 20: 2kW
02: 200W 30: 3kW
04: 400W
07: 750W
10: 1kW
15: 1.5kW

Chapter 1 Installation and Model Explanation ASDA-B2
1-4 Revision May, 2018
ECMA Series Servo Motor
ECMA-C10602ES
Type of Shaft
Diameter
and
Oil Seal
w/o
Brake
w/o Oil
Seal
with
Brake
w/o Oil
Seal
w/o
Brake
with Oil
Seal
With
Brake
With Oil
Seal
Round Shaft
(with fixed
screw holes) A B C D
Keyway E F G H
Keyway
(with fixed
screw holes) P Q R S
Standard Shaft Diameter: S
Specific Shaft Diameter: 3=42mm, 7=14mm
Rated Power Output
01:100W 05:500W 10:1.0kW
02:200W 06:600W 15:1.5kW
03:300W 07:700W 20:2.0kW
04:400W 09:900W 30:3.0kW
Motor Frame Size
04:40mm 09:86mm 18:180mm
06:60mm 10:100mm
08:80mm 13:130mm
Name of the Series
Rated Voltage and Rated Speed
C= 220V/3,000 rpm; E= 220V/2,000 rpm;
F= 220V/1,500 rpm; G= 220V/1,000 rpm;
Encoder Type
1: Incremental, 20-bit
2: Incremental, 17-bit
3: 2500ppr
M: Magnetic encoder, 13-bit
Servo Type
A: AC Servo
Product Name
ECM: Electronic
Commutation Motor

ASDA-B2 Chapter 1 Installation and Model Explanation
Revision May, 2018 1-5
1.3 Servo Drive and Corresponding Servo Motor
Motor Servo Drive
Motor
series Power Output
(W) Model Number Rated
Current
(Arms)
Max.
Instantaneous
current
(A) Model Number Continuous
Output
Current
(Arms)
Max.
Instantaneou
s output
current
(A)
Low Inertia
ECMA-C 3000 r/min
Single-
/Three-
phase
100 ECMA-C△0401□S 0.90 2.70 ASD-B2-0121-□0.90 2.70
200 ECMA-C△0602□S 1.55 4.65 ASD-B2-0221-□1.55 4.65
400 ECMA-C△0604□S 2.60 7.80 ASD-B2-0421-□2.60 7.80
400 ECMA-C△0804□7 2.60 7.80
750 ECMA-C△0807□S 5.10 15.30 ASD-B2-0721-□5.10 15.30
750 ECMA-C△0907□S 3.66 11.00
1000 ECMA-C△0910□S 4.25 12.37 ASD-B2-1021-□7.30 21.90
1000 ECMA-C△1010□S 7.30 21.90
2000 ECMA-C△1020□S 12.05 36.15 ASD-B2-2023-□13.40 40.20
3000 ECMA-C△1330□4 17.2 47.5
ASD-B2-3023-□19.40 58.20
Medium Inertia
ECMA-E 2000 r/min
Single-
/Three-
phase
500 ECMA-E△1305□S 2.90 8.70 ASD-B2-0421-□2.60 7.80
1000 ECMA-E△1310□S 5.60 16.80 ASD-B2-1021-□7.30 21.90
1500 ECMA-E△1315□S 8.30 24.90 ASD-B2-1521-□8.30 24.90
2000 ECMA-E△1320□S 11.01 33.03 ASD-B2-2023-□13.40 40.20
2000 ECMA-E△1820□S 11.22 33.66
3000 ECMA-E△1830□S 16.10 48.30 ASD-B2-3023-□19.40 58.20
3500 ECMA-E△1835□S 19.20 57.60
Medium-high
inertia
ECMA-F
1500 r/min
Single-
/Three-
phase
850 ECMA-F△1308□S 7.10 19.40 ASD-B2-1021-□7.30 21.90
1300 ECMA-F△1313□S 12.60 38.60 ASD-B2-2023-□13.40 40.20
1800 ECMA-F△1318□S 13.00 36.00
3000 ECMA-F△1830□S 19.40 58.20 ASD-B2-3023-□19.40 58.20
High Inertia
ECMA-C/G 3000
r/min
Single-
/Three-
phase
400 ECMA-C△0604□H 2.60 7.80 ASD-B2-0421-□2.60 7.80
750 ECMA-C△0807□H 5.10 15.30 ASD-B2-0721-□5.10 15.30
300 ECMA-G△1303□S 2.50 7.50 ASD-B2-0421-□2.60 7.80
600 ECMA-G△1306□S 4.80 14.40 ASD-B2-0721-□5.10 15.30
900 ECMA-G△1309□S 7.50 22.50 ASD-B2-1021-□7.30 21.90

Chapter 1 Installation and Model Explanation ASDA-B2
1-6 Revision May, 2018
NOTE
1. The boxes () at the ends of the servo drive model names are the
mode code of ASDA-B2. Please refer to the ordering information of
the actual purchased product.
2. The boxes (󰅿) in the model names are for encoder resolution types.
󰅿= 1: Incremental type, 20-bit; 󰅿= 2: Incremental type, 17-bit;
󰅿= 3: 2500 ppr; 󰅿= A: Absolute type). The listed motor model name
is for information searching, please contact to your local distributors
for actual purchased product.
3. The boxes () in the model names represents brake or keyway /
oil seal.
4. The above table shows the specification of servo drive which has
triple rated current. If you need 6 times rated current for your servo
drive, please contact with local distributors. For detailed specification
of the servo motor and servo drive, please refer to Chapter 10.

ASDA-B2 Chapter 1 Installation and Model Explanation
Revision May, 2018 1-7
1.4 Servo Drive Features