Automation for a Changing World

Delta Robot Controller with

Servo Drive Integrated
ASDA-MS Series

www.deltaww.com
System Configuration
Complete Robot Solution
■ Up to 10 axes motion control:
4-axis robot + 6 external axes
■ Supports various communication interfaces
■ Built-in diverse robot control modules
■ Supports IEC 61131-3 standard for five kinds
of programming languages
■ Supports the PLCopen motion function block
■ Offers DRL Languages for developing robot
application programs
■ Supports G-code programming for path
planning

Users

Robot Handheld Type HMI

PAD PC Software DOP-H

Ethernet
DELTA Robot
External Axes
ASDA-MS
AC Servo Drives & Motors
ASDA-M-F ASDA-A2-F

DMCNET

SCARA Robot

ECMA ECMA

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All-in-One Robot Controller
■ Integrates robot controller, motion controller and servo drive in one single unit with high flexibility
and reliability
■ Timely exchange of information for the controller and servo drive for real-time motion control
■ Enhances system control performance and dynamically compensates non-linear terms that affect
robot motion during robot moving processes
■ High cost-performance ratio for reduced system costs and more application flexibility

Handheld Type HMI

DOP-H
Control Structure

ASDA-MS

SCARA Robot

Users Robot
PC Software

Ethernet

PAD

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Comprehensive Development Platform
■ Supports value-added secondary development and customization work
■ Matched with Delta's industrial automation products and related robot peripheral devices
■ Satisfies the requirements for both single robots and workstation applications
■ Applies to a wide variety of applications and industries

AC Servo Drives & Motors

ASDA-A2 & ECMA PLC
AH500

ASDA-MS

Machine Vision System

DMV

Robot Controller

SCARA Robot DELTA Robot

AC Servo Drives & Motors

ASDA-M & ECMA
Handheld Type HMI
DOP-H

Robot Solution

Industry
Electrical/electronics, rubber and plastic, packaging, metal fabrication and others.

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

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DRAS Software (Delta Robot Automation Studio)
DRAS Software provides a variety of user-friendly tools and
helpful functions to make robot and motion control more intuitive
and simple. The DRAS also supports the IEC 61131-3 standard
for five kinds of programming languages, and the PLCopen
motion function block and DRL languages for developing
customized robot application programs to ensure the uniqueness
and completeness of individual systems.

IEC 61131-3 PLC Programming DRL Programming

Intelligent Robot Calibration Easy and Simple Robot Teaching

Real-time Monitoring Oscilloscope

即時監控示波器

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Ordering Information
► ASDA-MS Series Controller

ASD - MS - 0721 - F
MS Series Communication
F : DMCNET

Rated Output Power,

Input Voltage and Phase
0721 : 750 W ; 220 V 1-phase / 3-phase
1523 : 1.5 kW ; 220 V 3-phase
► ECMA Series Servo Motors
ECM A - C 1 06 02 E S
S: Standard Shaft Diameter
Product Name H: Specific Shaft Diameter / High Inertia Model
ECM : Electrical
Commutation Motor
W/O With W/O With
Shaft Type and Brake Brake Brake Brake
Oil Seal W/O Oil W/O Oil With With
Driving Type Seal Seal Oil Seal Oil Seal
A : AC Servo Motor Round Shaft
- - C D
(with screw hole)
Keyway E F - -
Series Keyway
Rated Voltage / Rated Speed (with screw hole)
P Q R S

C : 220 V / 3000 r/min

E : 220 V / 2000 r/min
Rated Output Power
G : 220 V / 1000 r/min
01：100 W 04：400 W 07：750 W
02：200 W 05：500 W 09：900 W
Encoder Type 03：300 W 06：600 W 10：1 kW
1 : Incremental encoder, 20-bit
2 : Incremental encoder, 17-bit Motor Frame Size
A : Absolute encoder 04：40 mm 09：86 mm 13：130 mm
06：60 mm 10：100 mm 18：180 mm
08：80 mm

Product Line-up
　 Controller Servo Motors

ECMA-C △ 0401 S（S = 8 mm） ECMA-C △ 0907 S（S = 16 mm）

ECMA-C △ 0602 S（S = 14 mm） ECMA-E △ 1305 S（S = 22 mm）
750 W ASD-MS-0721-F ECMA-C △ 0604 S（S = 14 mm） ECMA-G △ 1303 S（S = 22 mm）
ECMA-C △ 0804 7（7 = 14 mm） ECMA-G △ 1306 S（S = 22 mm）
ECMA-C △ 0807 S（S = 19 mm）

ECMA-C △ 0807 S（S = 19 mm） ECMA-E △ 1310 S（S = 22 mm）

ECMA-C △ 0907 S（S = 16 mm） ECMA-E △ 1315 S（S = 22 mm）
1.5kW ASD-MS-1523-F
ECMA-C △ 0910 S（S = 16 mm） ECMA-G △ 1309 S（S = 22 mm）
ECMA-C △ 1010 S（S = 22 mm）
Note: 1) The boxes ( △ ) in the model names represent encoder type. ( △ =1: Incremental encoder, 20-bit ; △ =2: Incremental encoder, 17-bit)
2) The boxes ( ) in the model names represent shaft end/brake or the number of oil seals.

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Specifications
750 W (for 4 axes of control) 1.5 kW (for 4 axes of control)
ASDA-MS Series
07 15

Phase / Voltage Three-phase / Single-phase 220 VAC 3-phase 220 VAC

Permissible Voltage Range 1-phase / 3-phase 200 ~ 230 VAC, -15% ~ 10% 3-phase 200 ~ 230 VAC, -15% ~ 10%

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

Power
Supply Input Current (3PH) 12.4 24.8
(Units: Arms)

Input Current(1PH) 23.8 44.5

(Units: Arms)

Continuous Output Current 5.1 (for each axis) 8.3 (for each axis)
(Units: Arms)

Dimensions (W) x (H) x (D) mm / Weight 175 mm x 300 mm x 159 mm / 5.6 Kg

Cooling System Fan Cooling

Encoder Resolution / Feedback Resolution 20-bit (1280000 p/rev)

Control of Main Circuit SVPWM (Space Vector Pulse Width Modulation) Control

Tuning Modes Auto / Manual

Regenerative Resistor Built-in

Programming Languages IEC61131-3 PLC Language, Delta Robot Language

Motion Control Mode PTP (Point to Point) Motion, Linear Interpolation, Circular interpolation

Robot Control 20 MByte for User Program and Data Memory

16 KByte for PLC SV/DV Variables (Not Retained)
Memory Capacity 60 KByte for PLC DH Variables (Retained)
1K Points for Global Use
Maximum 32K Points for Every User Program
User I/O: 24 Inputs, 12 Outputs
Standard I/O
Input / Output System I/O: 8 Inputs, 8 Outputs
Brake Output 4 Outputs

Ethernet 1 Channel

Communication RS-232 / RS-485 1 Port (One port can switch two communication functions)
Interfaces DMCNET 1 Channel

USB Host 1 Port

Indoor location (free from direct sunlight), no corrosive liquid and gas
Installation Site
(far away from oil mist, flammable gas, dust)
Altitude Altitude 1000m or lower above sea level

Atmospheric Pressure 86 kPa ~ 106 kPa

Maximum Operating Maximum Operating
Combination of Motors Combination of Motors
Temperature Limit Temperature Limit
750 W × 4 40 ºC 1.5 kW × 4 30 ºC
750 W × 2 1.5 kW × 2
Operating Temperature 45 ºC 35 ºC
400 W × 2 750 W × 2
400 W × 4 50 ºC 750 W × 4 40 ºC
Environment 400 W × 2 750 W × 2
55 ºC 45 ºC
200 W × 2 400 W × 2
Storage Temperature -20 ºC ~ 65 ºC

Humidity 0 ~ 90% RH (non-condensing)

2 2
Vibration 9.80665 m/s (1G) less than 20 Hz, 5.88 m/s (0.6G) 20 to 50 Hz

IP Rating IP20

Power System TN System*1

IEC/EN 61800-5-1, UL 508C, C-tick
Approvals

*1. TN system: A power distribution system having one point directly earthed, and the exposed conductive parts of the installation are connected to that point by a protective earth conductor.

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Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
18 Xinglong Road, Taoyuan District,
Taoyuan City 33068, Taiwan (R.O.C.)
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, P.R.C. 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. 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
Delta Electronics (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.

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