Automation for a Changing World

Delta Motion Control Solution

w w w. d e l t a w w. c o m
Smarter. Greener. Together.

Who We Are
■■ A global leader in power and thermal management technology with world-class customers in
several industries.
■■ A leading brand of smart automation and energy management solutions for smart factories,
industrial processes, data centers, telecom networks, green buildings and more.
■■ Our mission is “To provide innovative, clean and energy-efficient solutions for a better tomorrow”

About Delta Industrial Automation

Since the launch of our first AC motor drive in 1995, the Delta Industrial Automation Business
Group (IABG) has focused on automation technology with quality, reliability and precision to realize
our promise of “Automation for a Changing World”. We provide innovative automation products
that include AC motor drives, power quality improvement devices, sensors, and control and motion
devices. With enhanced integration and industrial network development, our industrial automation
solutions find application in a broad range of machinery, including: metal processing machines
used industries such as food, textiles, chemicals, electronics, and plastics; automation equipment
used in the pharmaceutical and printing industries; and energy-saving air-conditioning and water
supply facilities used in buildings. Our mission is: “To elevate our living environment through
advanced automation technology and value-added innovation”. With Delta's innovative, reliable,
energy-saving automation solutions and rapid global service, we help make the world "Smarter.
Greener. Together." with our partners and customers.

1
Table of Contents

ASDA A2-E Series 03

Features
Communication Specifications
Part Names and Functions
Ordering Information

ASDA-A2 Series 04
Features
Model Explanation
Servo Motor Features

ASDA-B2 Series 08
Features
Model Explanation

ASDA-M Series 10
Features
Model Explanation

ASDA-A2R Series 13
Features
Model Explanation
Motor Features

ASDA-Soft Series 21
ASDA-Soft Configuration Software

PAC Solution 23
Features
PAC Selection Guide
Centralized Slave Module

HMC Series 25
Field Applications
Features
Model Explanation

PS Series 27
Planetary Gearbox
Features
Model Explanation
Compatible Motor Table

2
ASDA A2-E Series
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. The new A2-E supports the CoE device profile based on CiA402, and all command types
of EtherCAT. In addition to the EtherCAT communication function, A2-E features the integrated Safe
Torque Off (STO), short cycle time, and extension digital input port, which makes the A2-E ideal for
multi-axis synchronization applications in a wide range of machinery automation applications. This
series offers a large range of rated power to drive motors, from 400 W to 7.5 kW for 400 V and 100 W
to 3 kW for 220 V.

Features
Implements High Precision Positioning Control
►► Touch Probe function can be enabled with the Digital Inputs (DI) on CN7 or
the external encoder
►► Integrated Safe Torque Off (STO) safety function complies with the standards
of IEC61508, SIL2; IEC62061, SILCL2; ISO13849-1, Cat. 3 PL=d
►► Wide power range coverage for both 220V and 400V versions
►► Supports full-closed loop control
►► Supports absolute type and incremental type ECMA Series motors

Communication Specifications
Physical Layer IEEE802.3u (100 BASE-TX)
EtherCAT Commands APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW, APRW, FPRW, BRW,
(Data Link Layer) LRW
Homing Mode, Profile Position Mode, Profile Velocity Mode, Profile Torque Mode,
Device Profile (CiA402) Interpolated Position Mode, Cyclic Syn. Position Mode, Cyclic Syn. Velocity Mode, Cyclic Syn.
Torque Mode, Touch Probe Function, Torque Limit Function
Tx: 8 Object (32 byte, Max.)
Process Data Size
Rx: 8 Object (32 byte, Max.) Dynamic Mapping supported.
Bus Clock DC cycle with min. 250 us
EtherCAT Link/Activity Indicator (L/A) x 2
LED Indicator EtherCAT RUN Indicator (RUN) x 1
EtherCAT ERROR Indicator (ERR) x 1

Part Names and Functions Ordering Information

Servo Status Display /
Operation Panel /
Charge LED
ASD - A2 - 04 21 - E
EtherCAT Model
Series : A2
External Encoder Digital I/O Input Voltage and Phase
21 : 220V 1-phase/3-phase
Product Name 23 : 220V 3-phase
AC Servo Drive 43 : 400V 3-phase
Extension DI Port Motor Encoder

Rated Output Power

01 : 100 W 20 : 2 kW
EtherCAT Status LED EtherCAT Port 02 : 200 W 30 : 3 kW
Safe Torque Off I/O 04 : 400 W 45 : 4.5 kW
07 : 750 W 55 : 5.5 kW
USB Port 10 : 1 kW 75 : 7.5 kW
15 : 1.5 kW

3
ASDA-A2 Series
DT3
Features
High Positioning Accuracy
►► ECMA series servo motors feature incremental encoders with 20-bit level resolution which can improve
low speed stability, smooth motor operation and enhance the accuracy of positioning.
►► Absolute type encoder with 17-bit level resolution is supported.

High Responsiveness
►► Up to 1 kHz frequency response.
►► Settling time below 1 ms.
►► 7 ms acceleration time for speeds from -3000 r/min to 3000 r/min with an empty load!
(Note: The test record is of a 400 W motor with 60 mm frame size).

Auto Notch Filter

30

Excellent Suppression Functions 20

torque (Amp)

10

0
►► Vibration Suppression (Low Frequency): -10

Two vibration suppression filters are provided -20

-30
for the long arm mechanism to settle down with 0 1 2 3

Before Suppression
4 5 6 7

After Suppression
less vibration.
Resonance Suppression (High Frequency) :
2000
►► 1500

Two auto-notch filters and one manual notch

speed (rpm)

1000
500

filter are equipped to prevent resonance effects 0

-500

on the machine. -1000

-1500

-2000
0 1 2 3 4 5 6 7
t (sec)
Auto Notch Filter Starts

Full-Closed Control Function

►► Ensures the accuracy of positioning by CN5
eliminating the effects of backlash and flexible Motor Encoder
mechanism.

CN2

Linear Scale

4
Electronic Cam (E-Cam) Function
►► 720 points max. for E-Cam outline.
►► E-Cam curve smoothing function can bring
out smooth motion.
►► ASDA-Soft for easy designing of cam
profile.
►► Excellent for flying shear, rotary cut, and
other cam applications.

Versatile PR Mode
►► ASDA-Soft for easy motion configuration.
►► 64 motion paths and continuously jointed paths are supported.
►► Abrupt motion command change is possible including speed and ACC / DEC slope.
►► 35 different homing modes are supported.
►► Procedure Jump, Parameter Writing, Speed Control, and Position Control modes are available.
►► 4 different kinds of position commands. Absolute command, Relative command, Incremental
command, and Fast Capture Relative command.

Supports High-Speed DMCNET, EtherCAT, CANopen Protocols for Multi-Axis

Synchronous Control
DOP-B DVS

Ethernet

AH500 PCI-DMC
DMCNET CANopen
or MH1-S30D DVP-10MC

ASDA-A2-F ASDA-A2-E ASDA-A2-M

5
 Model Explanation
ASDA-A2 Series Servo Drives

ASD - A2 - 04 21 - M
Product Name: Model Type
AC Servo Drive (see the table below)

Series: Input Voltage and Phase

A2 21: 220V 1-phase / 3-phase
Rated Output Power 23: 220V 3-phase
43: 400V 3-phase
01: 100 W 10: 1 kW 45: 4.5 kW
02: 200 W 15: 1.5 kW 55: 5.5 kW
04: 400 W 20: 2 kW 75: 7.5 kW
07: 750 W 30: 3 kW 1B: 11 kW
1F: 15 kW

Extension
Full-Closed Analog Pulse
RS-485 Port for PR
Type Control EtherCAT CANopen DMCNET Voltage Input E-Cam *3
(CN3) Digital Input Parameters*2
(CN5) *1 Control Port
(CN7)
L ○ ○ X X X X ○ ○ ○ X
Standard Type
U ○ ○ ○ X X X ○ ○ ○ ○
E X ○ ○ ○ X X X X ○ ○
Network Type F ○ ○ X X X ○ X X ○ X
M ○ ○ X X ○ X ○ ○ ○ ○
1. In PR mode, only A2-F supports full-closed control function.
NOTE
2. PR parameters can be read and written through communication by DMCNET only.
3. E-Cam function can only be used in PR mode.

ECMA Series Servo Motors

ECM A - C1 06 02 E S
S: Standard Shaft Diameter
H: Specific Shaft Diameter / High Inertia Model
Product Name
ECM: Electrical W/O With W/O With
Commutation Motor Shaft Type and Brake Brake Brake Brake
Oil Seal W/O Oil W/O Oil With With
Seal Seal Oil Seal Oil Seal
Driving Type
Round Shaft
A: AC Servo Motor - - C D
(with screw hole)
Keyway E F - -
Keyway (with
P Q R S
screw hole)

Series
Rated Output Power
Rated Voltage / Rated Speed
C: 220V / 3000 r/min J: 400V / 3000 r/min 0F: 50 W 08: 850 W 35: 3.5 kW
E: 220V / 2000 r/min K: 400V / 2000 r/min 01: 100 W 09: 900 W 45: 4.5 kW
F: 220V / 1500 r/min L: 400V / 1500 r/min 02: 200 W 10: 1 kW 50: 5.0 kW
G: 220V / 1000 r/min M: 400V / 1000 r/min Motor Frame Size 03: 300 W 13: 1.3 kW 55: 5.5 kW
04: 400 W 15: 1.5 kW 75: 7.5 kW
Encoder Type 04: 40 mm 10: 100 mm 05: 500 W 18: 1.8 kW 1B: 11 kW
1: Incremental encoder, 20-bit A: Absolute encoder, 06: 60 mm 13: 130 mm 06: 600 W 20: 2 kW 1F: 15 kW
2: Incremental encoder, 17-bit Single-turn: 17-bit 08: 80 mm 18: 180 mm 07: 750 W 30: 3 kW
3: 2500 ppr Multi-turn: 16-bit 09: 86 mm 22: 220 mm

6
Features of ECMA Series
Servo Motors

High Efficiency Permanent Magnetic Motors

220 V series:
►► Rated power from 50 W to 15 kW.

►► Frame size: 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm,
180 mm, and 220 mm.
►► Motor maximun speed up to 5000 r/min.
►► Output torque: 0.477 N-m ~ 224 N-m.

400 V series:
►► Rated power from 400 W to 7.5 kW.

►► Frame size: 60 mm, 80 mm, 86mm, 100mm, 130 mm, 180 mm.
►► Motor maximun speed up to 5000 r/min.
►► Output torque: 3.82 N-m ~ 119.36 N-m.

7
ASDA-B2 Series
Features
Implements High Precision Positioning Control
►► High-resolution encoder with 17-bit is a standard feature which satisfies application needs for high
precision positioning control and stable rotation at low speed.
►► New 17-bit resolution encoder can reduce cogging torque to enhance the precision of the motor.

Satisfies a Variety of Demands in the Industry

►► Built-in position, speed and torque - three control modes (speed and
torque mode can be controlled via internal parameters or analog voltage
command).
►► Provides pulse input (up to 4 Mpps) and analog voltage commands.
►► Two vibration suppression filters are provided for the long
arm mechanism to settle down with less vibration.
►► Two auto-notch filters and one manual notch filter are
equipped to prevent resonance effects on the machine.
►► Friction compensation and motor protection functions are
available to reinforce the system.

Offers Easy-To-Install Solution For Simple Start-Up

►► The same power and encoder cables as the ASDA
series. Easy to set up and no extra accessories.
►► Servo motor provides brake, oil seal, and more, with
optional configurations for the requirements of different
applications.
►► The control circuit and main power circuit are
separated, safety is increased and maintenance is
Power of control
much easier.
circuit and main
power circuit is ►► 400 W and above servo drives have a built-in
separated. regenerative resistor, for significant savings on wiring
and cost.

Built-in regenerative resistor

8
Model Explanation
ASDA-B2 Series Servo Drives

ASD - B2 - 04 21 - B

Type
B : Standard
Product Name : AC Servo Drive F : DMCNET

Input Voltage and Phase

21 : 220V 1-phase / 3-phase
23 : 220V 3-phase
Series
B2 : B2 series

Rated Output Power

01 : 100 W 10 : 1 kW
02 : 200 W 15 : 1.5 kW
04 : 400 W 20 : 2 kW
07 : 750 W 30 : 3 kW

ECMA Series Servo Motors

ECM A - C2 06 02 E S

S: Standard Shaft Diameter

H: High Inertia Model
Product Name
ECM : Electrical Commutation Motor

Type of Shaft
w/o Brake With Brake w/o Brake With Brake
Diameter and
w/o Oil Seal w/o Oil Seal With Oil Seal With Oil Seal
Oil Seal

Driving Type Round Shaft

- - C D
A : AC Servo Motor (with fixed screw holes)

Keyway E F - -

Keyway
P Q R S
(with fixed screw holes)

Series Rated Output Power

Rated Voltage / Rated Speed 01 : 100 W 08 : 800 W
Motor Frame Size
C : 220V / 3000 r/min 02 : 200 W 09 : 900 W
04 : 40 mm 10 : 100 mm
E : 220V / 2000 r/min 03 : 300 W 10 : 1 kW
06 : 60 mm 13 : 130 mm
F : 220V / 1500 r/min 04 : 400 W 15 : 1.5 kW
08 : 80 mm 18 : 180 mm
G : 220V / 1000 r/min 05 : 500 W 20 : 2 kW
09 : 86 mm
Encoder Type 06 : 600 W 30 : 3 kW
1 : Incremental encoder, 20-bit 07 : 750 W 35 : 3.5 kW
2 : Incremental encoder, 17-bit

9
ASDA-M Series

USB Connection Port for direct HMC Series

connection to personal computers
or notebooks
Human Machine Interface & Controller

ASDA-M Series Real Time I/O

Servo System (18 Inputs / 9 Outputs)
Supports DMCNET
Communication
Protocol
ASDA-A2 Series Servo Drives DMCNET High-Speed
ASD-A2-*-F Motion Control

Z-Axis Y-Axis X-Axis

32DI / 32DO 4-Channel

or 16-bit D/A
16DI / 16DO or
4-Channel 4-Channel
16-bit 4 A/D Pulse
Interface

Features
Highly Integrated System Real Time, Reliable and High-Speed
►► Built-in motion control functions.
Motion Control Network
►► Multi-axis synchronous interpolation. ►► Supports DMCNET and CANopen
communication protocols.
►► Advanced gantry control.
►► With the aid of Delta's Human Machine
►► Flexible electronic cam (E-Cam) function.
Controller (HMC), it can establish an
►► High-speed frequency response. integrated system configuration by DMCNET.
►► Excellent vibration and resonance suppression ►► Supports DMCNET interface for I/O extension
functions. modules.
►► High-precision full-closed control.
►► Versatile PR mode.
Real time Capture and Compare functions.
►►
High Precision, High Performance
Servo Motors
►► Supports incremental type and absolute type
New PC Software Functions encoders.
►► Incremental type encoder provides up to
►► ASDA-Soft provides built-in contour analysis 1,280,000 p/rev resolution for high-precision
function. positioning.
►► Real Time I/O (18 Inputs / 9 Outputs).

10
Features (cont.) Z Z

Multi-axis Synchronous Interpolation

3-Axis Helical 3-Axis Linear
►► Various kinds of interpolation functions Interpolation
X
Interpolation X

maximize the motion control performance

of the ASDA-M series. Y Y

►► Interpolation commands are built into the Y Y

ASDA-M series servo drive to offer high

synchronous control accuracy. 2-Axis Arc 2-Axis Linear
Interpolation Interpolation

X X

Advanced Gantry Control Servo Same DSP, Real Time,

Excellent Synchronous Control
Position, Speed and Torque

Plenty of data can be exchanged in real

commands are exchanged
between Axis 1 and Axis 2 every
62μs (16kHz)

time among 3 axes without any time delay.

This greatly increases the efficiency and Axis 1 Axis 2
Gantry Control
performance of gantry control. In rigid or
general mechanical systems, no matter if the
loading on multiple axes is equal or not, the
ASDA-M series can perform precise motion
control and drive each axis simultaneously.

DMCNET Communication
►► Up to 10 Mbps communication bandwidth is provided. It is capable of controlling up to 12 servo
system units.
►► In the DMCNET networking structure, the ASDA-M acts as a master and supports high-speed
DMCNET to extend connection with more devices and control the whole system more effectively.
Provides a motion commands
►► Capable of connecting to various remote editing environment

extension modules such as I/O modules,

AD/DA modules, the 04PI module and servo
drives.
USB Port
►► Provides a 3-axis
synchronous motion control ASDA-M Series

system with performance

better than comparable three
servo drives. ASDA-A2 Series Servo System
DMCNET High-Speed
Motion Control

32DI / 32DO 4-Channel

or 16-bit D/A
16DI / 16DO or
Z-Axis Y-Axis X-Axis 4-Channel 4-Channel
16-bit 4 A/D Pulse
Interface

11
 Model Explanation
ASDA-M Series Servo Drives

ASD - M - 07 21 - L
Model Type
(see the table below)
Product Name: AC Servo Drive

Input Voltage and Phase

21 : 220V 1-phase
23 : 220V 3-phase
Series : M

Rated Output Power

07 : 750 W
Model Type 15 : 1.5 kW

RS-485 Full-Closed
Type DMCNET PR Parameters E-Cam
(CN3) Control (CN5)
Standard Type L ○ ○ X ○ ○
Network Type F ○ ○ ○ ○ ○

ECMA Series Servo Motors

ECM A - C1 06 02 E S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical W/O With W/O With
Commutation Motor Shaft Type and Brake Brake Brake Brake
Oil Seal W/O Oil W/O Oil With With
Seal Seal Oil Seal Oil Seal
Driving Type
Round Shaft
A: AC Servo Motor - - C D
(with screw hole)
Keyway E F - -
Keyway (with
P Q R S
screw hole)

Series
Rated Output Power
Rated Voltage / Rated Speed
C: 220V / 3000 r/min J: 400V / 3000 r/min 0F: 50 W 08: 850 W 35: 3.5 kW
E: 220V / 2000 r/min K: 400V / 2000 r/min 01: 100 W 09: 900 W 45: 4.5 kW
F: 220V / 1500 r/min L: 400V / 1500 r/min 02: 200 W 10: 1 kW 50: 5.0 kW
G: 220V / 1000 r/min M: 400V / 1000 r/min Motor Frame Size 03: 300 W 13: 1.3 kW 55: 5.5 kW
04: 400 W 15: 1.5 kW 75: 7.5 kW
Encoder Type 04: 40 mm 10: 100 mm 05: 500 W 18: 1.8 kW 1B: 11 kW
1: Incremental encoder, 20-bit A: Absolute encoder, 06: 60 mm 13: 130 mm 06: 600 W 20: 2 kW 1F: 15 kW
2: Incremental encoder, 17-bit Single-turn: 17-bit 08: 80 mm 18: 180 mm 07: 750 W 30: 3 kW
3: 2500 ppr Multi-turn: 16-bit 09: 86 mm 22: 220 mm

12
ASDA-A2R Series
ASDA-A2R Series Features
DT3
System Operation with High Flexibility:
Connecting Various Kinds of Linear Motors and Servo Motors
►► Support for Delta's permanent-magnet synchronous linear motors
and servo (rotary) motors.
►► Support for other brands of permanent-magnet synchronous
linear motors and servo (rotary) motors.

For different feedback configurations, please refer to the following recommended wiring
methods for connecting the ASDA-A2R series servo drive.

1. Using Delta's ECMA 2. When not using Delta's servo motor 3. When not using Delta's servo motor and
series servo motor. and if the encoder signals are sine if the encoder signals are square wave,
wave, the sine wave can be converted the square wave can be converted into
into communication signals by Delta's communication signals directly through
Signal Converter Box through the CN2 the CN5 connector for the use of Delta’s
connector for the use of Delta’s ASDA-A2R servo system.
ASDA-A2R servo system.

CN5 Connector
Full-Closed Loop Control
Interface (Delta Optional Part)

CN2 Connector CN2 Connector

Motor Encoder Motor Encoder
Interface Interface

Signal Converter Box

Servo Motors on the Market

or other Permanent-Magnet
Delta's Servo Motor Servo Motors on the Market Synchronous Motors
or other Permanent-Magnet
Synchronous Motors

13
 4. When using the linear motor with a linear scale 5. When using the linear motor with a linear scale and
and if the encoder signals are sine wave, the sine if the encoder signals are square wave, the square
wave can be converted into communication signals wave can be converted into communication signals
by Delta's Signal Converter Box through the CN2 directly through the CN5 connector for the use of
connector for the use of Delta’s ASDA-A2R servo Delta’s ASDA-A2R servo system. In addition, when
system. a Hall Sensor is included and placed in-between,
the signal can be transmitted via CN5 connector and
controlled.
CN5 Connector
Full-Closed Loop Control
Interface (Delta Optional Part)

CN2 Connector
Motor Encoder
Interface

Linear Scale and

Signal
Hall Sensor
Converter Box

Hall
Sensor

Signal Converter Box

Linear Scale

Permanent-Magnet
Synchronous Linear Motors

Satisfying Customers' High Speed

Communication Requirements:
The ASD-IF-EN0A20 Signal Converter Box (Optional)
►► Converts the square wave and sine wave tocommunication signals
that can be used and controlled by Delta’s servo drive.
►► Supports AB phase square waves of digital signals and sine waves of
analog signals.
►► Divides signals up to 2,048 times for accurate signaltransmission and
enhanced positioning resolution.
►► Delivers original signals over 20m without attenuation to ensure
communication quality.

14
ASDA-A2R Series Features
Simple Setup Procedures Make Motor Connection Quick and Effortless
►► Easy-to-operate and step-by-step procedures help users quickly complete motor setup and
connection.

Intelligent Motor Parameter Excellent Suppression Functions

Measuring and Tuning ►► Vibration Suppression (Low Frequency):
Vibration suppression filters are provided for long
►► Detects related electrical circuit parameters arm systems to minimize vibration at the machine
such as motor inductance and resistance. edges effectively.
►► Provides motor current loop parameters for ►► Resonance Suppression (High Frequency):
motor auto-tuning. Auto notch filters are provided to suppress
►► Measures initial conditions on the magnetic mechanical resonance efficiently.
field amplification and corrects phase
sequence and deviation values of a Hall
sensor unit.
Accurate Positioning and Initiation
►► Detects and offsets the phase sequence of the
motor's U, V, W terminals. without a Hall Sensor
►► Keeps high positioning accuracy and reliability
while the motor is running without connecting a
Hall sensor unit.
►► Detects the angle of a motor magnet by fine-
sensing to ensure that magnetic field lines are
passing at right angles at power-on.

15
Detection and Compensation 900

of Motor Cogging Force 700

POS ERR (um)

600
►► After the generated cogging force is 500

reduced, the operation of the motor is 400

Disabling
compensation
more smooth and stable. 300 of cogging force
200
Enabling
100 compensation
0
of cogging force
0 0.5 1 1.5 2 2.5 3
Time (sec)

16
Model Explanation
ASDA-A2R Series Servo Drive

ASD - A2R - 01 21 - U

Model Type
Product Name : AC Servo Drive (see the table below)

Input Voltage and Phase

Series : A2R 21 : 220V 1-phase
23 : 220V 3-phase

Rated Output Power

01 : 100 W 15 : 1.5 kW
02 : 200 W 20 : 2 kW
04 : 400 W 30 : 3 kW
07 : 750 W
10 : 1 kW

Model Type

Extension
Full-Closed Analog Pulse
RS-485 Port for PR
Type Control EtherCAT CANopen DMCNET Voltage Input E-Cam*3
(CN3) Digital Input Parameters*2
(CN5)*1 Control Port
(CN7)

Standard L ○ ○ X X X X ○ ○ ○ X
Type U ○ ○ ○ X X X ○ ○ ○ ○
Network F ○ ○ X X X ○ X X ○ X
Type M ○ ○ X X ○ X ○ ○ ○ ○
1. In PR mode, only A2R-F supports full-closed control function.
NOTE 2. PR parameters can be read and written through communication by DMCNET only.
3. E-Cam function can only be used in PR mode.

17
Motor Features
ECMA
ECMA series servo motors are permanent-magnet AC servo motors, capable of combining with 200V to
230V ASDA-A2R series AC servo drives from 50 W to 3.5 kW. There are seven frame sizes available:
for ASDA-A2E series 40 mm, 60 mm, 80 mm, 86 mm, 100 mm, 130 mm and 180 mm. The motor speed
is from 1000 r/min to 5000 r/min and maximum torque range is between 0.477 N-m to 57.29 N-m.

For optional configurations, the ECMA series provides brake and oil seal models to fully support
customer needs. It also offers two different shaft selections, round shaft and keyway, for various
applications.

ECML
ECML series linear motors are permanent-magnet synchronous linear motors which feature:
- Built-in digital hall sensor: When a ECML motor is re-servo on, it can find the phase angle without
moving.
- Built-in temperature sensor: A thermistor type of temperature sensor is installed inside the ECML
motor. Users can acquire the motor’s internal temperature by servo drive or ohmmeter.
- Coil assembly has two sides of mounting holes: This allows users to have more flexibility and
expandability for device installation.

18
 Model Explanation
ECMA Series Servo Motor

ECM A - C1 06 02 E S
S: Standard Shaft Diameter
H: High Inertia Model
Product Name
ECM: Electrical W/O With W/O With
Commutation Motor Shaft Type and Brake Brake Brake Brake
Oil Seal W/O Oil W/O Oil With With
Seal Seal Oil Seal Oil Seal
Driving Type
Round Shaft
A: AC Servo Motor - - C D
(with screw hole)
Keyway E F - -
Keyway (with
P Q R S
screw hole)

Series
Rated Voltage / Rated Speed Rated Output Power
C: 220V / 3000 r/min J: 400V / 3000 r/min
0F: 50 W 07: 750 W 20: 2 kW
E: 220V / 2000 r/min K: 400V / 2000 r/min
01: 100 W 08: 850 W 30: 3 kW
F: 220V / 1500 r/min L: 400V / 1500 r/min
02: 200 W 09: 900 W 35: 3.5 kW
G: 220V / 1000 r/min M: 400V / 1000 r/min Motor Frame Size
03: 300 W 10: 1 kW
Encoder Type 04: 40 mm 10: 100 mm 04: 400 W 13: 1.3 kW
1: Incremental encoder, 20-bit 06: 60 mm 13: 130 mm 05: 500 W 15: 1.5 kW
2: Incremental encoder, 17-bit 08: 80 mm 18: 180 mm 06: 600 W 18: 1.8 kW
09: 86 mm

19
ECML Series Linear Motor - Coil Assembly

ECML - S 1608 A 2 D N S
1 2 3 4 5 6 7

ECML Product Name ECM: Electronic Commutation Motor

Name of the Series

1 S
Linear Motor Type
S: Shaft Type Coreless

Magnetic Way
Ø16 Ø20 Ø25 Ø32
Dimensions(mm)
2 1608 Specifications 1606 2003 2504 3204
Number of Coil Sets 1608 2004 2506 3206
　 2005 2508 3208

3 A Wiring Method A: Wiring Method A

4 2 Input Voltage 2: 220V

5 D Hall Sensor Type D: Digital

6 N Cooling Type N: N/A

7 S Customized options Delta Standard Product

ECML Series Linear Motor - Magnetic Way

ECML - SM 16 1000 S
1 2 3 4

ECML Product Name ECML : Electronic Commutation Motor

Name of the Series S: Shaft Type Coreless

1 SM
Linear Motor Type M: Magnetic Way
Magnetic Way 16: Ø16 mm 25: Ø25 mm
2 16
Dimensions 20: Ø20 mm 32: Ø32 mm
Examples:
Total Length of Range: 0340 : 340 mm
3 1000
Magnetic Way 250~2310 mm 0520 : 520 mm
1060 : 1060 mm

4 S Customized options Delta Standard Product

20
ASDA-Soft
ASDA-Soft Configuration
Software

Capture / Compare
■ Strong Capture and Compare functions for
position latch and detection help you complete
system configuration quickly.

Electronic Cam (E-Cam)

■ User-friendly E-Cam editing interface is provided for
designing E-Cam outlines and curves freely. In addition,
quick settings for flying shear and rotary cut applications
are offered .

Scope
■ Versatile on-line monitoring function, similar to a
digital oscilloscope is able to quickly record the status
and data of each axis. Real-time monitoring is easy.

21
 PR Mode
■ Easy-to-use editing interface is designed for the
new and enhanced PR control mode. Homing, point-
to-point and other motion control functions for multi-
axis positioning control are easily achieved.

Alarm
■ Convenient alarm display function is capable of troubleshooting
the system easily and recommending timely corrective actions .

Parameter
■ Multi-functional parameter editor lets you read back
all of the parameters of the servo drive to a PC, and
then write all of the parameters set in the PC into the
servo drive. It also allows you to display, edit, change,
compare and print the setting values of specific
parameters.

22
PAC Solution
Programmable Automation Controller (PAC)
MH1-Series
A Perfect Balance of EtherCAT Fieldbus and High-Performance Motion Control
►► Robust Hardware: Up to Intel i7 Quad Core 2.1 GHz processor, built-in USB and CFast Card slots,
cable-less and fan-less design for increased reliability and low power consumption
►► Stable
Storage: Easy installation of large-capacity SATA hard disk for easy maintenance
and data management
►► Integrated
Control: Perfect integration of motion control and logic programming control
enables better synchronization with EtherCAT communication
►► Multiple
Communication Interfaces: 1 COM port, 2 giga Ethernet ports and 2 DMCNET
communication ports for fast and convenient data transmission
►► Flexible Extension Interfaces: 2 PCI or 1 PCle extension slots for more flexible applications
►► EtherCAT Master Port: Up to 4 kHz synchronous cycle time for multi-axis control and automation
►► Easy Setting: Control of the slave modules and servo systems are simple with easy to understand key operation
►► High Security: Customizable IC device for secured confidential programming protection

Motion
▪ Built-in EherCAT and DMCNET master
▪ Enables up to 64 axes of control via EtherCAT
or up to 12 axes of servo system units via
DMCNET
▪ Connects max. 100 units of EtherCAT slave
modules or 24 units of DMCNET slave
modules
▪ Electronic Cam (E-Cam) function
▪ Linear, Arc, Helical and high-speed continuous
interpolation

Software
►► EtherCAT Automation Software: EcNAVI development software is for ▪ Optional Soft HMI functions
configuring an EtherCAT network that includes an EtherCAT master ▪ Optional CNC control functions
controller and slave devices for data communication, functional identification, ▪ Optional robot arm control functions
programming and debugging ▪ Optional IEC61131 PLC functions

Ordering Information
Model Explanation - MH1 Series
M H 1 - S 3 0 D - A 1 1 D 0 Version:
Product Name:
D0 = Standard Version
Motion Control Hub 1st Generation

DRAM & Micro-SD Card Options:

CPU Information:
S30 = VIA Nano X2 Dual Core 1.2GHz CFast SSD
A12 = Intel Atom E3845 Quad Core 1.91GHz 0 - -
C50 = Intel Core i5-3610ME Dual Core 2.7GHz 1 4GB 4GB
C70 = Intel Core i7-3612QE Quad Core 2.1GHz
CFast Card & SSD Card Options:
Extension Interface: DRAM micro-SD
D = DMCNET 0 - -
Extension Slot Interface:
E = EtherCAT 1 4GB 4GB
0 = No Extension Slot
G = Giga LAN
A = 2 PCI slots
B = 2 PCIe slots x1 + x1
C = 2 PCIe slots x4 + x1

23
PAC Selection Guide
Specifications - MH1 Series
Model Name MH1-S30D MH1-A12D MH1-A12E MH1-C50D MH1-C50E MH1-C70D MH1-C70E
VIA Nano X2
Intel Atom E3845 Quad Core Intel Core i5-3610ME Dual Core Intel Core i7-3612QE Quad Core
Processor Dual Core
1.91GHz 2.7GHz 2.1GHz
1.2GHz
Processor System Chipset VIA VX900 x Intel QM77
System MRAM 128KB
BIOS AMI BIOS
System 1 x DDR3-1066 DDR3L-1333 2 x DDR3-1600
Memory Max. up to 8 GB 4 GB, supports ECC Max. up to 16 GB, supports ECC
2048x1536 /
Display Interface CRT 2560x1600 / 60Hz 2048x1536 / 75Hz
75Hz
Ethernet 2 x IEEE 802.3/802.3u/802.3ab 1Gbps
DMCNET √ √ x √ x √ x
EtherCAT x x √ x √ x √
USB 4 x USB 2.0
Serial Port 1 x RS-232 (Hardware auto flow control)
1-CH isolated, 1-CH isolated, 1-CH isolated,
Digital Input x 24VDC Sink x 24VDC Sink x 24VDC Sink x
(5mA/CH) (5mA/CH) (5mA/CH)
I/O Interface 1-CH isolated, 1-CH isolated, 1-CH isolated,
Digital Output x 24VDC Sink x 24VDC Sink x 24VDC Sink x
(10mA/CH) (10mA/CH) (10mA/CH)
4-CH isolated, 4-CH isolated, 4-CH isolated,
Encoder Input x x x x
QEP± QEP± QEP±
Compare 2-CH isolated, 2-CH isolated, 2-CH isolated,
x x x x
Output CMP± CMP± CMP±
[2 x PCI slot] x1
[2 x PCI slot] 2 x PCI slot
Expansion [2 x PCIe slot]x1
[2 x PCIe slot]x1 2 x PCIe slotx1
[1 x PCIe slot] x4 + [1 x PCIe slot] x1
CFast card 1 x CFast Cat (optional)
1 x Micro-SD
Micro-SD card x x x x x x
Storage card (optional)
eMMC x 1 x eMMC (optional) x x x x
Solid State Disk 1 x 2.5" SATA SSD (optional)
Power Input Voltage DC12~30V±10%
Requirements Input Type ATX
Certification Safety CE
Dimensions (W x H x D) 127 x 175 x 250 mm (5”x6.89”x9.85”)
Operation Temperature 0°C ~50°C
Weight 4.7 Kg
Windows 7.0,
Windows 7.0, Windows 7
Software Support Windows XP/7 Windows 7.0, Windows XP/7 Embedded, RTX
Embedded, RTX
Embedded, RTX

■■ Centralized Slave Modules

■■  Bus Adapter Type Module
■■  Motion Type Module
R1-EC5500 R1-EC5621
EtherCAT to E-BUS power module Single-axis pulse output motion control module,
suitable for stepping and servo-based systems

■■  Digital Input Type Module ■■  Digital Output Type Module
R1-EC6022 R1-EC7062
16 digital inputs, sink / source type 16 digital outputs, sink type
The available models are listed below for Max. output current: 0.5A per each port
different response-time requirements:
- R1-EC6002: < 0.1ms
- R1-EC6022: 2ms

■■  ADC Type Module ■■  DAC Type Module

R1-EC8124 R1-EC9144
4 channels 16-bit single-ended A/D control module Input filter 4 channels 16-bit D/A control module
limit frequency: 10 kHz Voltage output: ±5V, ±10V, 0 ~ 5V, 0 ~ 10V
Signal voltage: ±5V, ±10V Current output: 0 ~ 20 mA, 4 ~ 24 mA, 0 ~ 24 mA

24
HMC Series
Field Applications Mold Opening Signals of
Injection Molding Machine
Cartesian Robotic Arms
HMC Series Signals of Defective Products

High-speed RS-422
10Mbps High-speed
Communication

General Digital I/O

ASDA-M Series Signals of Vacuum Switch

(ASD-M_xxx-F)

Clamp Switch

Alarm Output

X-Axis Y-Axis Z-Axis

ECMA Series Servo Motors

Features
Powerful Dual Processors
The HMC is equipped with two high-speed CPUs.
One CPU is for the operation of the human machine interface.
The other is a DSP (Digital Signal Processor) that serves
as a motion processor for sequence control, which
guarantees no worries for execution efficiency and the
performance of the system when running large and
complicated PLC programs. The HMC is capable of
controlling up to 4 major PLC tasks synchronously.

DOPSoft, HMI Screen Editor & PLC Programming Software

DOPSoft provides a direct editing
environment for fast and effective
HMI screen editing and PLC
programming which simplifies the
design time and minimizes the cost.

25
Quick PLC Ladder Monitoring

PLC ladder programs and registers

can be monitored and changed in
real time on a PC to greatly reduce
the verification and debug time via
Ethernet and USB.

Ethernet / USB

Built-in PLC ladder monitor devices allow users to display programs in real time and confirm
machine operations without using a PC.

Direct Remote I/O Connection

I/O points are placed in the Direct remote I/O connection

rear of the panel. Wiring and provides simple and effortless
connection are complicated. wiring. Only one communication
cable is needed to complete I/O
connection.

Model Explanation

H M C 0 7 - N 5 11 H 5 2
Peripheral Interface
0 : None
2 : SD + USB
Product Name
HMC : HMI with Controller

External Control Interface (Bus)

LCM Size 0 : None
07 : 7 inch TFT LCD 5 : DMCNET
08 : 8 inch TFT LCD

Type of Industries Type of Model

N : General Purpose H : Hand-held
S : Standard

Display Specification
Version
4 : WVGA TFT
10 : up to 4 axes of control
5 : SVGA TFT
11 : up to 12 axes of control
6 : WXGA

26
PS Series

Planetary Gearbox PS High Precision S

The PS Series Planetary Gearbox features many advantages such as low noise, h
smoothly transfer power from motor to applications and is widely applied to various
industrial robot, medical device and precision measurement.

Helical Gear Design

The speed reduction mechanism employs helical gears,
which doubles the tooth mesh rate when compared with
regular spur gears. ln addition, it also features extremely
smooth running, low noise, high torque output and low
backlash.

Synthetic Lubrication Grease

The protective class IP65 seals design
avoids leakage problems and requires
no maintenance.

Integrated Planetary Arm Bracket

The planetary arm bracket and the output
shaft are constructed as one-piece to
increase torsional rigidity and accuracy.
The entire structure is one-time machined
for controlling accuracy in the specified
tolerance.

One-piece Gearbox & Advanced

Surface Treatment
The gearbox and internal gear ring are
constructed as one-piece. High gear accuracy
meets the DIN6 class standard. Gearbox
surface is anticorrosive treated to enhance
environment resistance and corrosion resistance
capabilities.

27
Series
high output torque and low backlash. It is able to
s industries including aerospace, semiconductor,

Full Needle Roller Bearings Design

The planetary gear transmission employs full needle
roller bearings without retainer to increase the
contact surface, which greatly enhances structural
rigidity and service life.

High Precision Gear Machining

The planetary gear and sun gear are
made from high quality Ni-Cr-Mo alloy
steel (SNCM220), precision machined and
carburized to hardness 57-60 HRC. Precision
teeth grinding assures gear accuracy reaches
DIN6 class. It provides better wear resistance,
impact resistance and longer service life than
gears that are only surface nitrided.

Collet Locking Mechanism

The input-end and the motor are
coupled through a collet locking
meshanism. It has passed dynamical
balance analysis to assure concentricity
and balance for the connection and no
backlash for power transmission while
running at high speed.

Modular Design of Motor Connection Plate

The special modular design of the motor
connection plate is made by an aluminum
alloy that is suitable for all series of Delta
servomotor.

28
Features

The Delta Planetary Gearbox is made with high-tech design software, high-precision gear hobbing
machine and comprehensive quality control to ensure that it provides high accuracy gear engagement,
smooth running and minimum noise.

►►High Stability
Employs high tensile strength alloy steel. The gear is made using a vacuum carburizing process to enable both core
and surface hardness, which extends gear service life and maintains high precision after long periods operation.

►►High Precision
Backlash for concentric 1-stage gearbox is under 3 arcmin.
Backlash for right angle 1-stage gearbox is under 4 arcmin.

►►High Input Speed

Input speed allows for 5,000 RPM.

►►High Torque
Higher output torque is in comparison with spur gearbox.

►►High Efficiency
Efficiency for 1-stage model exceeds 97%.
2-stage model exceeds 94%.

►►Low Noise
Under 65dB.

►►Lifetime Lubrication
The protective class IP65 seals design avoids leakage problems and requires no maintenance during the product life
time.

Model Explanation
P S 062 - C 010 3 B1430

Motor Interface Code:

Product Name:
B1430: F60/PCDΦ70/output shaft diameter Φ14/
Planetary Gearbox
output shaft length 30mm
C1430: F80/PCDΦ90/output shaft diameter Φ14/
output shaft length 30mm
C1935: F80/PCDΦ90/output shaft diameter Φ19/
Series: output shaft length 35mm
PS E2255: F130/PCDΦ145/output shaft diameter Φ22/
output shaft length 55mm
E2455: F130/PCDΦ145/output shaft diameter Φ24/
Output Flange Dimensions:
output shaft length 55mm
062：62mm
090：90mm F3579: F180/PCDΦ200/output shaft diameter Φ35/
120：120mm output shaft length 79mm
142：142mm
Model Type: Ratio: Backlash Class:
C: Concentric (1-stage) 5：1/5 3: 3 arcmin
A: Concentric (2-stage) 10：1/10 4: 4 arcmin
R: Right Angle (1-stage) 20：1/20 5: 5 arcmin
L: Right Angle (2-stage) 30：1/30 7: 7 arcmin

29
Compatible Motor Table

Output Shaft
Motor Frame Backlash Compatible
Type Power Rating Diameter (S) & Stage Ratio
Code Class Gearbox Model No.
Length (LR) (mm)
Concentric F60 200 W, 400 W Φ14 / 30 1-stage 5, 10 3 PS062-CxxxxB1430

Concentric F80 400 W, 750 W Φ14 / 30 1-stage 5, 10 3 PS090-CxxxxC1430

Concentric F80 750 W Φ19 / 35 1-stage 5, 10 3 PS090-CxxxxC1935

300 W, 500 W, 600 W,

800 W, 900 W
Concentric F130 Φ22 / 55 1-stage 5, 10 3 PS120-CxxxxE2255
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW

Concentric F130 3 kW Φ24 / 55 1-stage 5, 10 3 PS120-CxxxxE2455

2 kW, 3 kW, 3.5 kW,

Concentric F180 Φ35 / 79 1-stage 5, 10 3 PS142-CxxxxF3579
4.5 kW

Concentric F60 200 W, 400 W Φ14 / 30 2-stage 20,30 5 PS062-AxxxxB1430

Concentric F80 400 W, 750 W Φ14 / 30 2-stage 20,30 5 PS090-AxxxxC1430

Concentric F80 750 W Φ19 / 35 2-stage 20,30 5 PS090-AxxxxC1935

300 W, 500 W, 600 W,

800 W, 900 W
Concentric F130 Φ22 / 55 2-stage 20,30 5 PS120-AxxxxE2255
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW

Concentric F130 3kW Φ24 / 55 2-stage 20,30 5 PS120-AxxxxE2455

Right-angle F60 200 W, 400 W Φ14 / 30 1-stage 5, 10 4 PS062-RxxxxB1430

Right-angle F80 400 W, 750 W Φ14 / 30 1-stage 5, 10 4 PS090-RxxxxC1430

Right-angle F80 750 W Φ19 / 35 1-stage 5, 10 4 PS090-RxxxxC1935

300 W, 500 W, 600 W,

800 W, 900 W
Right-angle F130 Φ22 / 55 1-stage 5, 10 4 PS120-RxxxxE2255
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW

Right-angle F130 3 kW Φ24 / 55 1-stage 5, 10 4 PS120-RxxxxE2455

2 kW, 3 kW, 3.5 kW,

Right-angle F180 Φ35 / 79 1-stage 5, 10 4 PS142-RxxxxF3579
4.5 kW

Right-angle F60 200 W, 400 W Φ14 / 30 2-stage 20,30 7 PS062-LxxxxB1430

Right-angle F80 400 W, 750 W Φ14 / 30 2-stage 20,30 7 PS090-LxxxxC1430

Right-angle F80 750 W Φ19 / 35 2-stage 20,30 7 PS090-LxxxxC1935

300 W, 500 W, 600 W,

800 W, 900 W
Right-angle F130 Φ22 / 55 2-stage 20,30 7 PS120-LxxxxE2255
1 kW, 1.3 kW, 1.5 kW,
1.8 kW, 2 kW

Right-angle F130 3 kW Φ24 / 55 2-stage 20,30 7 PS120-LxxxxE2455

30
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301

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: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 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, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd

4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 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

Americas
Delta Products Corporation (USA)
Raleigh Office
P.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 Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865

Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De 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.

Delta_SPS_Motion Control Solution_C_EN_20150910