Delta ASDA-M Series User manual

Delta Ultimate Integrated
AC Servo Drive with
Excellent Performance
ASDA-MSeries
User Manual
www.delta.com.tw/ia
V2.0
DELTA_IA-ASDA_M_UM_EN_20141219
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: [phone] / FAX: [phone]
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: [phone] / FAX: [phone]
Delta Electronics (Japan), Inc.
Tokyo Ofce
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]
Americas
Delta Products Corporation (USA)
Raleigh Ofce
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]
Delta Greentech (Brasil) S.A
Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Ofce
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: [phone] / FAX: [phone]
*We reserve the right to change the information in this catalogue without prior notice.
Delta Ultimate Integrated AC Servo Drive with Excellent Performance ASDA-MSeries User Manual
Via Polesine, 1/4
10020 Cambiano ( TO ) Italy
[phone]
www.e-comtech.it
[email protected]

Revision December, 2014 i
Preface
Thank you for purchasing ASDA-M. This user manual provides the related information of
ASDA-M series servo drives and 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 function and adjustment methods of servo drive
Parameters
Communication protocol
Maintenance and inspections
Troubleshooting
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.
Ground is a must.
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 anytime before connecting to
the power and operation.
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 DEALTAcustomer service center.

Preface ASDA-M
ii Revision December, 2014
Safety Precautions
ASDA-M 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-M 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.)
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.
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.
Please connect wiring according to the wire rod in order to prevent any
danger.

ASDA-M Preface
Revision December, 2014 iii
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 equipments, it would cause the damage of the equipments 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.
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.

Preface ASDA-M
iv
Revision December, 2014
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.
NOTE
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.
www.e-comtech.it
[e-mail]
Via Polesine, 1/4
10020 Cambiano ( TO ) Italy
[phone]

Revision December, 2014
Table of Content
Chapter 1 Inspection and Model Explanation
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 Features of Servo Drive................................................................................. 1-6
Chapter 2 Installation
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
2.5 Specification of Circuit Breaker and Fuse...................................................... 2-5
2.6 EMI Filters Selection...................................................................................... 2-5
2.7 Selection of Regenerative Resistor ............................................................... 2-8
Chapter 3 Wiring
3.1 Connection between Peripheral Devices and Main Power Circuit................. 3-1
3.1.1 Wiring Diagram of Peripheral Devices................................................... 3-1

Table of Content ASDA-M
Revision December, 2014
3.1.2 Connectors and Terminals of the Servo Drive....................................... 3-3
3.1.3 Wiring Method....................................................................................... 3-5
3.1.4 Specification of Motor U, V, W Power Cable......................................... 3-7
3.1.5 Specification of Connector of Encoder Cable........................................ 3-9
3.1.6 Selection of Wire Rod............................................................................ 3-12
3.2 Schematic Diagram of Servo System............................................................ 3-14
3.3 I/O Signal (CN1) Connection......................................................................... 3-15
3.3.1 I/O Signal (CN1) Connector Terminal Layout....................................... 3-15
3.3.2 Explanation of I/O (CN1) Connector Signal.......................................... 3-17
3.3.3 Wiring Diagram (CN1) .......................................................................... 3-31
3.3.4 The Specified DI and DO Signal by the User........................................ 3-40
3.4 CN2 Connector.............................................................................................. 3-41
3.5 Wiring of CN3 Connector............................................................................... 3-44
3.5.1 Layout of CN3 Connector..................................................................... 3-44
3.5.2 Connection between CN3 connector and Personal Computer ............. 3-45
3.6 CN4 Serial Connector (USB)......................................................................... 3-46
3.7 CN5 Connector (Full-closed Loop)................................................................ 3-47
3.8 CN6 Connector (CANopen)........................................................................... 3-48
3.9 Standard Wiring Method................................................................................ 3-50
3.9.1 Position (PT) Mode Standard Wiring .................................................. 3-50
3.9.2 Position (PR) Mode Standard Wiring.................................................. 3-51
3.9.3 Speed Mode Standard Wiring............................................................. 3-52
3.9.4 Torque Mode Standard Wiring............................................................ 3-53

ASDA-M Table of Content
Revision December, 2014
3.9.5 CANopen Mode Standard Wiring........................................................ 3-54
Chapter 4 Panel Display and Operation
4.1 Panel Description .......................................................................................... 4-1
4.2 Parameter Setting Procedure........................................................................ 4-2
4.2.1 Axis Switching Procedure.................................................................... 4-2
4.2.2 Parameter Setting Procedure of Each Axis......................................... 4-3
4.3 Status Display................................................................................................ 4-4
4.3.1 Setting Saved Display .......................................................................... 4-4
4.3.2 Decimal Point ....................................................................................... 4-4
4.3.3 Alarm Message..................................................................................... 4-4
4.3.4 Positive and Negative Sign Setting....................................................... 4-4
4.3.5 Monitor Display..................................................................................... 4-5
4.4 General Function........................................................................................... 4-8
4.4.1 Operation of Fault Record Display........................................................ 4-8
4.4.2 JOG Mode............................................................................................ 4-9
4.4.3 Forced Digital Output Operation........................................................... 4-10
4.4.4 Digital Input Diagnosis Operation ......................................................... 4-11
4.4.5 Digital Output Diagnosis Operation ...................................................... 4-12
Chapter 5 Trial Operation and Tuning
5.1 Inspection without Load................................................................................. 5-1
5.2 Apply Power to the Servo Drive..................................................................... 5-2

Table of Content ASDA-M
Revision December, 2014
5.3 JOG Trial Run without Load .......................................................................... 5-6
5.4 Trial Run without Load (Speed Mode)........................................................... 5-7
5.5 Trial Run without Load (Position Mode)......................................................... 5-9
5.6 Tuning Procedure.......................................................................................... 5-11
5.6.1 Flowchart of Tuning Procedure............................................................. 5-12
5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-13
5.6.3 Flowchart of Auto Tuning...................................................................... 5-14
5.6.4 Flowchart of Semi-auto Tuning............................................................. 5-15
5.6.5 Limit of Load Inertia Estimation ............................................................ 5-17
5.6.6 Mechanical Resonance Suppression Method....................................... 5-19
5.6.7 Tuning Mode and Parameters.............................................................. 5-20
5.6.8 Tuning in Manual Mode........................................................................ 5-21
Chapter 6 Control Mode of Operation
6.1 Selection of Operation Mode......................................................................... 6-1
6.2 Position Mode................................................................................................ 6-3
6.2.1 Position Command of PT Mode............................................................ 6-3
6.2.2 Position Command of PR Mode ........................................................... 6-6
6.2.3 Control Structure of Position Mode....................................................... 6-7
6.2.4 S-curve Filter (Position)........................................................................ 6-8
6.2.5 Electronic Gear Ratio ........................................................................... 6-12
6.2.6 Low-pass Filter ..................................................................................... 6-14
6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-16

ASDA-M Table of Content
Revision December, 2014
6.2.8 Gain Adjustment of Position Loop ........................................................ 6-16
6.2.9 Low-frequency Vibration Suppression in Position Mode....................... 6-18
6.3 Speed Mode.................................................................................................. 6-24
6.3.1 Selection of Speed Command.............................................................. 6-24
6.3.2 Control Structure of Speed Mode......................................................... 6-25
6.3.3 Smooth Speed Command .................................................................... 6-26
6.3.4 The Scaling of Analog Command......................................................... 6-30
6.3.5 The Timing Diagram in Speed Mode.................................................... 6-31
6.3.6 Gain Adjustment of Speed Loop........................................................... 6-32
6.3.7 Resonance Suppression.......................................................................6-39
6.4 Torque Mode.................................................................................................6-47
6.4.1 Selection of Torque Command............................................................. 6-47
6.4.2 Control Structure of Torque Mode........................................................ 6-48
6.4.3 Smooth Torque Command ................................................................... 6-49
6.4.4 The Scaling of Analog Command......................................................... 6-50
6.4.5 The Timing Diagram in Torque Mode................................................... 6-51
6.5 Dual Mode.....................................................................................................6-52
6.5.1 Speed／Position Dual Mode................................................................. 6-53
6.5.2 Speed／Torque Dual Mode.................................................................. 6-53
6.5.3 Torque／Position Dual Mode................................................................ 6-54
6.6 Others............................................................................................................ 6-55
6.6.1 The Use of Speed Limit........................................................................ 6-55
6.6.2 The Use of Torque Limit....................................................................... 6-55

Table of Content ASDA-M
Revision December, 2014
6.6.3 Analog Monitor ..................................................................................... 6-56
6.6.4 The Use of Mechanical Brake............................................................... 6-61
Chapter 7 Motion Control
7.1 Motion Control Functions of ASDA-M............................................................ 7-1
7.2 Information of the Servo Drive....................................................................... 7-1
7.2.1 Description of Monitor Variables........................................................... 7-3
7.2.2 Description of Data Array...................................................................... 7-9
7.3 Description of Motion Axes............................................................................ 7-13
7.4 Description of PR Mode................................................................................. 7-14
7.5 The Position Unit of PR Mode ....................................................................... 7-14
7.6 Description of Register in PR Mode............................................................... 7-14
7.7 Description of Homing in PR Mode................................................................ 7-16
7.8 DI/DO Provide by PR Mode and Diagrams ................................................... 7-16
7.9 Parameter Settings in PR Mode.................................................................... 7-18
7.9.1 The Relation between the Previous Path and Next Path.................... 7-28
7.9.2 Programming the Path in PR Mode .................................................... 7-29
7.10 The Description of E-Cam Function............................................................... 7-30
7.10.1 Function Description of CAPTURE (Data Capture) ............................ 7-39
7.10.2 Function Description of COMPARE (Data Compare) ......................... 7-42
Chapter 8 Parameters
8.1 Parameter Definition...................................................................................... 8-1

ASDA-M Table of Content
Revision December, 2014
8.2 Parameters.................................................................................................... 8-2
8.3 Parameter Description................................................................................... 8-12
P0-xx Monitor Parameters.............................................................................. 8-12
P1-xx Basic Parameters................................................................................. 8-38
P2-xx Extension Parameters.......................................................................... 8-79
P3-xx Communication Parameters................................................................. 8-118
P4-xx Diagnosis Parameters.......................................................................... 8-127
P5-xx Motion Setting Parameters................................................................... 8-142
P6-xx PR Parameters..................................................................................... 8-198
P7-xx PR Parameters..................................................................................... 8-248
Table 8.1 Function Description of Digital Input (DI)......................................... 8-298
Table 8.2 Function Description of Digital Output (DO) .................................... 8-305
Chapter 9 Communication
9.1 RS-485／RS-232 Communication Hardware Interface ................................. 9-1
9.2 RS-485／RS-232 Communication Parameters Setting................................. 9-4
9.3 MODBUS Communication Protocol............................................................... 9-8
9.4 Write-in and Read-out in Communication Parameters .................................. 9-19
Chapter 10 Troubleshooting
10.1 Alarm of Servo Drive ..................................................................................... 10-1
10.2 Alarm of CANopen Communication............................................................... 10-4
10.3 Alarm of Motion Control................................................................................. 10-7

Table of Content ASDA-M
Revision December, 2014
10.4 Causes and Corrective Actions ..................................................................... 10-12
10.5 Corrective Actions after the Alarm Occurs..................................................... 10-36
Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-M Series) ............................................ 11-1
11.2 Specifications of Servo Motor (ECMA Series)............................................... 11-4
11.3 Torque Features (T-N curve)......................................................................... 11-12
11.4 Overload Features......................................................................................... 11-13
11.5 Dimensions of the Servo Drive...................................................................... 11-15
11.6 Dimensions of the Servo Motor ..................................................................... 11-17
Appendix A Accessories
Appendix B Maintenance and Inspection

Revision December, 2014 1-1
Chapter 1 Inspection and Model
Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.
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 next page 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) Three UVW motor power cables, the U, V and W wires can connect to the socket
attached by the servo drive and another side is the plug which could connect to the
socket of the motor. And a green ground wire which should be locked to the ground
terminal of the servo drive. (selective purchase)
(3) Three encoder cables which connect to the socket of the encoder. One side of it
connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) 50-PIN connector which is used in CN1 (3M analog product) (selective purchase)
(5) 20-PIN connector which is used in CN2 (3M analog product) (selective purchase)
(6) 6-PIN connector which is used in CN3 (IEEE 1394 analog product) and is for
general communication (RS485) (selective purchase)
(7) 4-PIN connector which used in CN4 (USB Type B product) (selective purchase)
(8) RJ45 connector which used in CN6 and is for high-speed communication
(selective purchase)
(9) Servo drive power input:
(a) 750W and 1.5 kW: 2 PIN fast connector (L1c, L2c)
(b) 750W and 1.5 kW: 3 PIN fast connector (R, S, T)
(10) 3 sets of 3-PIN fast connector (U, V, W)
(11) 4-PIN fast connector (P , D, C, )
(12) A plastic lever (attached in all series)
(13) A metal short-circuit chip (attached in all series)
(14) An installation manual

Chapter1InspectionandModelExplanation ASDA-M
1-2 Revision December, 2014
1.2 Product Model
1.2.1 Nameplate Information
ASDA-M Series Servo Drive
Nameplate Information
M0721M6T1100001
DELTA ELECTRONICS, INC. MADE IN XXXXXX
MODEL : ASD-M-0721-F
POWER : 750W
INPUT : 200~230V 3PH 50/60Hz 9.51A
01.70
OUTPUT : 110V 0-250Hz 5.1A
200~230V 1PH 50/60Hz 18.3A
Model Name
Power Specification
Power Input Specification
Barcode & Serial Number
Firmware Version
Power Output Specification
Serial Number
Production Factory (T: Taoyuan; W: Wujiang)
Serial Number (starts from 0001 every week)
M0721F 6 T 14 45 0003
Production Week (from 1 to 52)
Delta Standard ( 6: for RoHs)
Production Year (14: Year of 2014 or
0: Year of 2010)
Model Name
ECMA Series Servo Motor
Nameplate Information
AC SERVO MOTOR
MODEL : ECMA-E11320RS
INPUT : kW2.0 VAC 110 A 11.0
OUTPUT : r/min 2000 N.m 9.55Ins.A
E11320RST13370017
Delta Electronics, Inc.
MADE IN TAIWAN
Model Name
Power Input Specification
Barcode &
Serial Number
Power Output Specification
Serial Number
Serial Number (Starts from 0001 every week)
Production Week (From 1 to 52)
Production Year (13: Year of 2013)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name
E11320RS T 13 37 0017

ASDA-M Chapter1InspectionandModelExplanation
Revision December, 2014 1-3
1.2.2 Model Explanation
ASDA-M Series Servo Drive
ASD-M-0721-L
Model Type
Type Full-closed
Loop CANopen DMCNET E-CAM
M ○○× ○
F ○× ○○
L ○× × ×
R ○× ○○
Input Voltage and
Phase
21: 220V 1 phase/3
phase
Model Type
Rated Power Input
07: 750W
15: 1.5kW
Product Series
M
Product Name
AC SERVO Drive

Chapter1InspectionandModelExplanation ASDA-M
1-4 Revision December, 2014
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
0F:50 W 05:500 W 10:1.0 kW
01:100 W 06:600 W 13:1.3 kW
02:200 W 07:750 W 15:1.5 kW
03:300 W 08:850 W 18:1.8 kW
04:400 W 09:900 W
Motor Frame Size
04: 40 mm 09: 86 mm
06: 60 mm 10:100 mm
08: 80 mm 13:130 mm
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;
Sensor Type
1: Incremental, 20-bit (For the drive which
is under 3kW)
2: Incremental, 17-bit
3: 2500 ppr
A: Absolute ( Resolution of single cycle:
17-bit; Resolution/multi-cycle:16-bit)
Servo Type
A
:
A
C Servo
Product Name
ECM: Electronic
Commutation Motor

ASDA-M Chapter1InspectionandModelExplanation
Revision December, 2014 1-5
1.3 Servo Drive and Corresponding Servo Motor
ASDA-M Series Servo Drive
Servo Drive Corresponding Servo Motor
750W ASD-M-0721-
ECMA-C1040FS（S=8 mm）
ECMA-C△0401S（S=8 mm）
ECMA-C△0602S（S=14 mm）
ECMA-C△0604S（S=14 mm）
ECMA-C△0604H ( H = high-inertia)
ECMA-C△08047（7=14 mm）
ECMA-C△0807S（S=19 mm）
ECMA-C△0807H ( H=high-inertia)
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）
1500W ASD-M-1521-
ECMA-C△0807S（S=19 mm）
ECMA-C△0807H ( H=high-inertia)
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-F△1308S（S=22 mm）
ECMA-F△1313S（S=22 mm）
ECMA-E△1315S（S=22 mm）
ECMA-G△1309S（S=22 mm）
NOTE
1) Box, () at the end of the model name of the servo drive represents the code of
ASDA-M. Please refer to the type of purchasing product information.
2) Triangle, (△) in the mode name of the servo motor represents the type of encoder.
△=1: incremental, 20-bit；△=2: incremental, 17-bit; △=3: 2500 ppr; △=A: Absolute.
The listed model name is for reference. To purchase the product, please contact the
local dealer for product availability.
3) Box, () in the model name of the servo motor represents the type of brake or
keyway / oil seal.
The above table shows the specification of servo drive which has triple rated current. If the
user needs the servo drive which has six times of the rated current, please contact with
distributors. For detailed specification of the servo motor and servo drive, please refer to
the appendix.

Chapter1InspectionandModelExplanation ASDA-M
1-6 Revision December, 2014
1.4 Features of Servo Drive
ASDA-M Series Servo Drive

ASDA-M Chapter1InspectionandModelExplanation
Revision December, 2014 1-7
ASDA-M Series Servo Drive (top view)