Delta Ia-Gmc Ms Um TC 20150602

ASDA-MS
33068 18
TEL: 886-3-3626301
FAX: 886-3-3716301

ASDA-MS
*
www.deltaww.com

1.1 1-2
1.2 1-3
1.2.1 1-3
1.2.2 1-4
1.3 MS 1-6
1.4 MS 1-7
2.1 2-2
2.2 2-2
2.3 2-2
2.4 2-3
2.5 2-5
2.6 (EMI FILTERS) 2-5
2.7 2-6
3.1 3-2
3.1.1 3-2
3.1.2 MS 3-3
3.1.3 3-5
3.1.4 MS UVW 3-7
3.1.5 MS 3-9
3.1.6 3-12
3.2 STD.DIO SYS.DIO I/O 3-13
3.2.1 I/O Layout 3-13
3.2.2 I/O 3-15
3.2.3 (DIO) 3-16
3.2.4 DI DO 3-17
June, 2015
3.3 MOTOR ENC. 3-17
3.4 D-SUB 3-20
3.4.1 Layout 3-20
3.5 USB 3-21
3.6 Ext.ENC. () 3-23
3.7 EtherNet / DMCNET 3-24
3.8 HMI TP 3-26
3.9 STO 3-27
3.9.1 3-27
3.9.2 STO 3-29
3.9.3 STO 3-30
3.9.4 STO 3-32
3.10 BRK.DO 3-33

4.1 4-2
4.1.1 4-2
4.1.2 4-2
4.2 P0-01 4-3
4.3 4-4
4.3.1 4-4
4.3.2 4-5
4.3.3 4-6
4.3.4 4-9
5.1 MS 5-2
5.2 5-3
5.3 JOG 5-5
5.4 5-7
5.4.1 5-7
5.4.2 5-8
5.4.3 5-11
5.4.4 5-12
5.4.5 5-14
June, 2015

6.1 6-2
6.1.1 6-2
6.1.2 6-3
6.2 Keywords 6-4
6.3 P 6-4
6.4 6-6
6.4.1 6-8
6.4.2 6-12
6.4.3 6-19
6.4.4 DI/O 6-37
6.4.5 Servo 6-38
6.4.6 6-39
6.5 6-41
6.6 6-43
6.6.1 6-43
6.6.2 6-44
6.6.3 6-45
6.6.4 6-45
6.6.5 6-46
7.1 MS 7-2
7.1.1 (MCS) 7-2
7.1.2 (PCS) 7-3
7.1.3 (TCS) 7-4
7.1.4 (ACS) 7-4
7.1.5 7-5
7.2 7-10
7.2.1 7-10
7.2.2 7-10
7.2.3 7-11
7.2.4 7-11
7.3 7-12
7.3.1 7-13
7.3.2 7-14
7.3.3 7-16
June, 2015
7.3.4 7-17
7.3.5 7-17
7.3.6 7-18
7.4 7-19
7.4.1 7-20
7.4.2 7-21
7.4.3 7-22
7.4.4 7-22
7.4.5 7-23
7.4.6 7-23
7.5 7-24
7.5.1 7-24
7.5.2 7-25
7.5.3 7-25
7.5.4 7-26
8.1 8-2
8.2 8-3
8.3 8-6
P0-xx 8-6
P1-xx 8-9
P2-xx 8-12
P3-xx 8-20
8.4 8-28
8.5 8-30
P0-xx 8-30
P1-xx 8-32
P2-xx 8-39
P3-xx 8-46
P4-xx 8-46
P5-xx Motion 8-47
P6-xx 8-48
8.1 (DI) 8-48
8.2 (DO) 8-49
June, 2015

9.1 9-2
9.2 MODBUS 9-3
9.3 9-17

10.1 10-3
10.1.1 10-3
10.1.2 10-5
10.1.3 10-6
10.1.4 10-8
10.2 10-9
10.2.1 10-9
10.2.2 10-10
10.2.3 10-11
10.3 10-12
10.4 MS 10-12
10.5 10-13
10.5.1 10-13
10.5.2 PUU 10-13
10.5.3 10-14
11.1 11-3
11-3
11-4
11.2 11-6
11-6
11-11
June, 2015

ASDA-MS A-2
ASDA-MS A-4
(ECMA) A-5
(T-N ) A-11
A-13
A-15
B-2
B-3
B-5
B-6
B-7
B-8
B-9
AW B-9
IW B-9
RS-232 B-10
RS-485 B-10
B-11
USB-Serial C-2
USB-EtherNet C-5
C-9
June, 2015

-ASDA-MS ( MS )
ECMA

MS
MS

MS

ASDA-MS
MS

IEC61131-3 PLC PLCopen

ASDA-MS

June, 2015 i

ASDA-MS (Open type)

(Digital Signal Processor,
DSP) IGBT (PMSM)

ASDA-MS ()(
UL 1 )
MS

class-3(100 )

UVW

ii June, 2015

MS

MS
10

MS
June, 2015 iii

30 (11.8 )

3 (9.84 ) 20 (65.62 )
MS (10 )

MS
:(http://www.delta.com.tw/industrialautomation/)
iv June, 2015

ASDA-MS
MS
1.1 1-2
1.2 1-3
1.2.1 1-3
1.2.2 1-4
1.3 MS 1-6
1.4 MS 1-7
June, 2015 1-1

ASDA-MS
1.1

1 (1)
(2)
MS
UVW MS
MS ()
(3) MS MOTOR
ENC.()
(4) USB1 4 PIN ()
(5) DMCNET RJ45 ()
(6) MS
750 W2 PIN (24 V0V)
750 W3 PIN (RST)
(7) 6-PIN (UVW) 2
(8) STO
(9) BRK
(10) ()
(11)
1-2 June, 2015

ASDA-MS
1.2
1.2.1
ASDA-MS 0 1

MS0721F T 14 29 0028 (1)
(1) (2) (3) (4) (5) (2) (TW)
(3) (142014)
(4) (152)
(5) (0001)
ECMA 0
E11320RS T 14 37 0017 (1)

(1) (2) (3) (4) (5) (2) (TW)
(3) (142014)
(4) (152)
(5) (0001)
June, 2015 1-3

ASDA-MS
1.2.2
ASDA-MS 0
1 ASD MS 07 21 F
(1) (2) (3) (4) (5)
(1)
AC Servo Drive
(2)
MS
(3)
07 750 W
15 1.5 kW
(4)
21 220 V / MS
23 220 V MS
(5)
EtherCAT CANopen DMCNET E-CAM DI

F
1-4 June, 2015

ASDA-MS
ECMA 0
ECM A C 1 06 02 E S
(1) (2) (3) (4) (5) (6) (7) (8)
(1) ECM
1
(2) A
(3)

C 220 V 3, 000 rpm
E 220 V 2, 000 rpm
G 220 V 1, 000 rpm
(4)

1 20-bit ( 3 kW )
2 17-bit
A (17-bit16-bit)
(5)

04 40 mm 10 100 mm
06 60 mm 13 130 mm
08 80 mm 18 180 mm
09 86 mm - -
(6)

01 100 W 05 500 W 10 1.0 kW
02 200 W 06 600 W
03 300 W 07 700 W
04 400 W 09 900 W
(7)

() - - C D
E F - -
() P Q R S
(8)
3 = 42 mm7 = 14 mm
June, 2015 1-5

ASDA-MS
1.3 MS
MS
1 Motor
series

(W)

(Arms) (A)

(Arms) (A)
50 ECMA-C1040FS 0.69 2.05
100 ECMA-C0401S 0.90 2.70

ECMA-C 3000 r/min
200 ECMA-C0602S 1.55 4.65 ASD-MS-0721-F 5.10 15.30

400 ECMA-C0604S 2.60 7.80
/

400 ECMA-C08047 2.60 7.80

750 ECMA-C0807S 5.10 15.30 ASD-MS-0721-F 5.10 15.30
750 ECMA-C0907S 5.10 15.30 ASD-MS-1523-F 8.30 24.90
1000 ECMA-C0910S 3.66 11.00

ASD-MS-1523-F 8.30 24.90
1000 ECMA-C1010S 7.30 21.9
400 ECMA-C0604H 2.60 7.80 ASD-MS-0721-F 5.10 15.30
2000 r/min
ECMA-E
ASD-MS-0721-F 5.10 15.30

750 ECMA-C0807H 5.10 15.30
ASD-MS-1523-F 8.30 24.90
300 ECMA-G1303S 2.50 7.50
ECMA-C/G 3000 r/min
500 ECMA-E1305S 2.90 8.70 ASD-MS-0721-F 5.10 15.30

600 ECMA-G1306S 4.80 14.4
/

850 ECMA-F1308S 7.10 19.4

900 ECMA-G1309S 7.50 22.5
ASD-MS-1523-F 8.30 24.90
1000 ECMA-E1310S 5.60 16.8
1500 ECMA-E1315S 8.30 24.9

1. = 120-bit = 217-bit = 32500 ppr
= M
2.
3.
A
4. 1.5 kW
1-6 June, 2015

ASDA-MS
1.4 MS
ASDA-MS
(1) TP
(2) EtherNetUSB1USB2DMCNET
(3) RST 200VAC
(4) BRK.DIO24V DC
(5) STODI
(6) 24V-024VDC
(7) RS-232RS-485
(8) MS
(9) UVW
(10) STD.DIOUser I/O 24 DI12 DO
(11) EXT.ENC.(ABZ )
(12) MOTOR.ENC.
(13) SYS.DIOSystem I/O 8 SDI8 SDO
June, 2015 1-7

ASDA-MS
()
1-8 June, 2015

2.1 2-2
2.2 2-2
2.3 2-2
2.4 2-3
2.5 2-5
2.6 (EMI FILTERS) 2-5
2.7 2-6
June, 2015 2-1

ASDA-MS
2.1

2 MS 20 UVW 3.1.6
UVW
2.2

-20C +65C
0 % 90 %

2.3
MS

0C ~ 40C

0C ~ 55C 45C
45C

2-2 June, 2015

ASDA-MS
2.4

MS ()
2

June, 2015 2-3

ASDA-MS

MS
2 ()
2-4 June, 2015

ASDA-MS
2.5
MS (Class T)

ASD-MS-0721-F 30A 50A
2
1.
2. MS 200 mA 0.1

3. 1.5 kW
4. ULCSA
2.6 (EMI Filters)

EMI (EMI Filter)
EMI (EMI Filter)

Servo Drive EMI Filter FootPrint

EMF023A21A
1 750 W ASD-MS-0721-F N
EMF027A23A
EMI (EMI Filter)
EMI (EMI Filter) MS

1. MS EMI
2.
3.

1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2(2007) Class A Group 1
June, 2015 2-5

ASDA-MS

() EMI (EMI Filter)
1. ()
2.
3. U
4. U

(1)
(2) U
(3)
2.7
750 W
ASDA-MS

MS (kW)
(P1-52)(Ohm) (P1-53)(Watt)
0.75 100 40
2-6 June, 2015

MS

3.1 3-2
3.1.1 3-2
3.1.2 MS 3-3
3.1.3 3-5
3.1.4 MS UVW 3-7
3.1.5 MS 3-9
3.1.6 3-12
3.2 STD.DIO SYS.DIO I/O 3-13
3.2.1 I/O Layout 3-13
3.2.2 I/O 3-15
3.2.3 (DIO) 3-16
3.2.4 DI DO 3-17
3.3 MOTOR ENC. 3-17
3.4 D-SUB 3-20
3.4.1 Layout 3-20
3.5 USB 3-21
3.6 EXT.ENC. () 3-23
3.7 ETHERNET / DMCNET 3-24
3.8 HMI TP 3-26
3.9 STO 3-27
3.9.1 3-27
3.9.2 STO 3-29
3.9.3 STO 3-30
3.9.4 STO 3-32
3.10 BRK.DO 3-33
June, 2015 3-1

ASDA-MS
3.1
3 3.1.1
V
10 0 W ~ 1. 5 kW / 20 0 ~ 23 0 V0
2 kW ~ 3 kW 20 0 ~ 23 0 V0 EtherNet & USB

(NFB)
(NFB)
0 0
0

MS
MS
0
MS
RS-232 / RS-485

(MC) 0[ 0[
(MC)
MS
MS
(ALARM)
0
(MC) 0
MS 0
(RST)0
(UVW)
(BRK.DIO)
UVW
0 STO (Safe Torque Off )
MS

I/O (SYS.DIO)
24 V
00 STD.D
STD.DOO QQ
(MOTOR
TORENC.
ENC.)) Use r I/ O
0 24 DI 12 DO
MS 0
EX T.ENC .0
0
(ABZ)0

1. RST 24 V0 V
2. UVW
3.
4. STO () STO
()
3-2 June, 2015

ASDA-MS
3.1.2 MS

24V0V
24 V
( Class 2 )

3
RST
()

UVW
U

FG V
W
FG MS

TP HMI () HMI
RS232/RS485 RS-232 RS-485
EtherNet PC
USB
USB1 USB PC
(Type B)()
USB2 USB
DMCNET DMCNET DMCNET
STO Safe Torque Off I/O STO
STD.DIO DIDO 24 DI12 DO
SYS.DIO DIDO 8 SDI8 SDO
BRK.DIO DO 24 V
EXT.ENC.
3.3
Pin No
- A B C D E F
T+ 5 11 17 23 14 20
Motor ENC. ()
T- 7 13 19 25 15 21
+5V / 4 10 16 22 2 8
GND / 6 12 18 24 3 9
- 126
June, 2015 3-3

ASDA-MS
1. MS RST U
3 VW ()
2. RST UVW 30
(11.8 )
3. (Motor ENC.)(EXT.ENC.)
AWG26 UL 2464
(Metal braided shield twisted-pair cable) 20 (65.62
) 20
4. DMCNET SHIELDING
5. 3.1.6
3-4 June, 2015

ASDA-MS
3.1.3
MS Power On a Power Off
ALRM_RY b MC ( 3.1.1 )
3
(750 W )
S R
MCCB (a ) (b )
Power Power (b )
Noise Filter
On Off MC ALRM_RY
MC
SUP
MC U_A
R
V_A Motor_A
S
W_A
T
Servo Drive U_B

Power supply 24 V
V_B Motor_B
24 V 0V
W_B
24 VDC DO+_A
U_C
ALRM_RY
V_C Motor_C
DO-_A
W_C
24 VDC DO+_B
ALRM_RY
DO-_B
U_D
24 VDC V_D Motor_D

DO+_C
ALRM_RY W_D
DO-_C
24 VDC DO+_D
ALRM_RY
DO-_D
June, 2015 3-5

ASDA-MS
()
R S T
3
MCCB (a ) (b )
Power Power (b )
Noise Filter
On Off MC ALRM_RY
MC
SUP
MC U_A
R
V_A Motor_A
S
W_A
T
Servo Drive U_B

Power supply 24 V
V_B Motor_B
24 V 0V
W_B
24 VDC DO+_A
U_C
ALRM_RY
DO-_A V_C Motor_C
W_C
24 VDC DO+_B
ALRM_RY
DO-_B
U_D
24 VDC DO+_C V_D Motor_D
ALRM_RY W_D
DO-_C
24 VDC DO+_D
ALRM_RY
DO-_D
3-6 June, 2015

ASDA-MS
3.1.4 MS UVW
(1) UVW
UVW
ECMA-C1040FS (50 W)
ECMA-C0401S (100 W)
ECMA-C0602S (200 W)
ECMA-C0604S (400 W)
ECMA-C0604H (400 W)
ECMA-C08047 (400 W)
ECMA-C0807S (750 W) CASE BRAKE1 BRAKE2
U () V () W ()
GROUND () () ()
ECMA-C0807H (750 W)
ECMA-C0907S (750 W) 1 2 3 4 - -
June, 2015 3-7

ASDA-MS
UVW
3
ECMA-C1040FS (50 W)
ECMA-C0401S (100 W)
ECMA-C0602S (200 W)
ECMA-C0604S (400 W)
ECMA-C0604H (400 W)
ECMA-C08047 (400 W)
ECMA-C0807S (750 W)
CASE BRAKE1 BRAKE2
ECMA-C0807H (750 W) U () V () W ()
GROUND () () ()
ECMA-C0907S (750 W)
1 2 4 5 3 6
ECMA-G1303S (300 W)
ECMA-E1305S (500 W)
ECMA-F1305S (500 W)
ECMA-G1306S (600 W)
ECMA-F1308S (850 W)
ECMA-G1309S (900 W)
ECMA-C1010S (1000 W)
ECMA-E1310S (1000 W)
CASE BRAKE1 BRAKE2
ECMA-F1313S (1300 W) U () V () W ()
GROUND () () ()
ECMA-E1315S (1500 W)
F I B E G H
600 V 30 30
() 3.1.6

3-8 June, 2015

ASDA-MS
3.1.5 MS

(1)

(2) 3.3

(3) B
(4) MOTOR.ENC

ECMA-C1040FS (50 W)
ECMA-C0401S (100 W)
ECMA-C0602S (200 W)
ECMA-C0604S (400 W)
ECMA-C0604H (400 W)
ECMA-C08047 (400 W)
ECMA-C0807S (750 W)
ECMA-C0807H (750 W)
ECMA-C0907S (750 W)
ECMA-C0910S (1000 W)
June, 2015 3-9

ASDA-MS
3
1 2 3 3 2 1

T+ T+
4 5 6 6 5 4
/ / / /

T- T-
7 8 9 9 8 7
/ /
Shield Shield
DC+5V GND GND DC+5V
MS
(housing)112
2 MS

3-10 June, 2015

ASDA-MS
(1) (2) 3.3

(3) ASDPBSC2626PCB (SCSI 26PIN SCSI 26 PIN 0.5 M)
B
(4) MOTOR.ENC
MS
ECMA-G1303S (300 W)
ECMA-E1305S (500 W)
ECMA-F1305S (500 W)
ECMA-G1306S (600 W)

ECMA-F1308S (850 W)
ECMA-G1309S (900 W)
ECMA-C1010S (1000 W) Pin No.
A T+
ECMA-E1310S (1000 W)
B T-
ECMA-F1313S (1300 W)
S DC+5 /
ECMA-E1315S (1500 W)
R G D /
L BRAID SHIELD
BRAID SHIELD 3.1.6

June, 2015 3-11

ASDA-MS
3.1.6
MS
3 MS
mm (AWG)
L1cL2c RST UVW P C
ECMA-C0401S
ECMA-C0602S
ECMA-C0604S
ECMA-C08047
ASD-MS-0721-F ECMA-C0807S 1.3(AWG16) 2.1(AWG14) 0.82(AWG18) 2.1(AWG14)
ECMA-C0907S
ECMA-E1305S
ECMA-G1303S
ECMA-G1306S
ECMA-C0910S
ECMA-C1010S
ECMA-E1310S
ASD-MS-1523-F ECMA-E1315S 1.3(AWG16) 3.3(AWG12) 1.3(AWG16) 3.3(AWG12)
ECMA-G1309S
ECMA-C0807S
ECMA-C0907S
mm (AWG)
MS

ASD-M-0721-F 0.13(AWG26) 10 (4 ) UL2464 3 (9.84 )
ASD-M-1523-F 0.13(AWG26) 10 (4 ) UL2464 3 (9.84 )

1. (Shielded twisted-pair cable)
2. SHIELD
3.
4.
3-12 June, 2015

ASDA-MS
3.2 STD.DIO SYS.DIO I/O
I/O Layout
3.2.1
MS 12 24 2 2
P2-10 ~ P2-11 P2-18 ~ P2-19 DI 1 ~ DI 6DI 13 ~ DI 18 DI_COM1;
3
DI 7 ~ DI 12DI 14 ~ DI 24 DI_COM 2
STD.DIO
(1) STD.DIO (2) STD.DIO

Pin Pin Pin

No No No
1 DI 1 18 DO 05+ 35 DI 22
2 DI 2 19 DO 06+ 36 DI 23
3 DI 3 20 DO 07+ 37 DI 24
4 DI 4 21 DO 08+ 38 DI_COM 2 DI ()
5 DI 5 22 DO 09+ 39 DO 01-
6 DI 6 23 DO 10+ 40 DO 02-
7 DI 13 24 DO 11+ 41 DO 03-
8 DI 14 25 DO 12+ 42 DO 04-
9 DI 15 26 DI 7 43 DO 05-
10 DI 16 27 DI 8 44 DO 06-
11 DI 17 28 DI 9 45 DO 07-
12 DI 18 29 DI 10 46 DO 08-
13 DI_COM 1 DI () 30 DI 11 47 DO 09-
14 DO 01+ 31 DI 12 48 DO 10-
15 DO 02+ 32 DI 19 49 DO 11-
16 DO 03+ 33 DI 20 50 DO 12-
17 DO 04+ 34 DI 21 - - -
June, 2015 3-13

ASDA-MS
SYS.DIO
(1) SYS.DIO (2) SYS.DIO

Pin Pin Pin
No No No
1 SDO 3- 10 SDO 2- 19 SDO 5+
2 SDO 3+ 11 SDO 2+ 20 SDO 5-
3 SDO 4- 12 SDO 7+ 21 SDO 6-
4 SDO 4+ 13 SDO 7- 22 SDO 6+
5 SDI_COM DI () 14 SDO 1+ 23 SDO 8-
6 SDI_COM DI () 15 SDO 1- 24 SDO 8+
7 SDI 5 16 SDI 1 25 SDI 2
8 SDI 3 17 SDI 6 26 SDI 7
9 SDI 8 18 SDI 4 - - -
3-14 June, 2015

ASDA-MS
3.2.2 I/O

MS I/O
DI/DO
3
DI/DO
() DI/DO
DI/DO Pin No
DI/DO
DO
Pin No
DO
( 3.2.3)
MS
SRDY ALL - -
(ALRM) ON
C5/C6/
SON - - ON
C7/C8
MS (
ALRM ALL 28 27
WARN )
Pin No DI/DO

DI

DI Pin No
( 3.2.3)
(ALRM) C9/C10
ARST ALL -
Servo Ready(SRDY) C11/C12
June, 2015 3-15

ASDA-MS
3.2.3 (DIO)
3 DO (40 mA 100 mA )
C1DO C2DO
MS MS
DOX(DOX+,DOX-)
DOX(DOX+,DOX-)
X = 1 ~ 12
X = 1 ~ 12
R
24 VDC 24 VDC
DOX+ DOX+
24 VDC
50 mA
DOX- DOX-
NPN (E)(SINK ) PNP (E)(SOURCE )

C3DI C4DI
MS MS
COM+ SON
4.7 K
24 VDC 24 VDC
SON COM+
4.7 K
3-16 June, 2015

ASDA-MS
3.2.4 DI DO
DI/DO DI/DO DI 1 ~ 6
DO 1 ~ 3 P2-10P2-11 P2-18 DI
DO DI/DO ( 8 )
3
3.3 MOTOR ENC.

(1) Motor ENC. (2) Motor ENC.
June, 2015 3-17

ASDA-MS

MS
Pin No
- A B C D E F - - -
T+ 5 11 17 23 14 20 A 1
T- 7 13 19 25 15 21 B 4
+5V / 4 10 16 22 2 8 S 7 /
GND / 6 12 18 24 3 9 R 8 /
- 1,26 - - -
Shell Shielding L 9 -
(1)
20 ~ 30 mm
45 mm
(A)
(2)

(3) 5 ~ 10 mm

3-18 June, 2015

ASDA-MS
(4)

3
(5)
(6)
June, 2015 3-19

ASDA-MS
3.4 D-SUB
3 3.4.1 Layout
MS MODBUS
MSPLC HMIRS-232RS-485 ( P3-05
)RS-232 15 RS-485
MS
(1) RS-232RS-485 (2) RS-232RS-485

Pin No
1 RS-485 RS-485(+) MS
MS
2 RS-232 RS-232_RX
PC RS-232
MS
3 RS-232 RS-232_TX
PC RS-232
4 - -
5 GND +5 V
6 RS-485 RS-485(-) MS
7 - -
8 - -
9 - -
15 38400 bps 3

3-20 June, 2015

ASDA-MS
3.5 USB
USB1 PC PC MS
(1) USB1 (2) USB1

Pin No
1 V bus +5 V()
2 D- Data-
3 D+ Data+
4 GND
June, 2015 3-21

ASDA-MS
USB2
(1) USB2 (2) USB2

Pin No
1 V bus +5 V()
2 D- Data-
3 D+ Data+
4 GND
3-22 June, 2015

ASDA-MS
3.6 EXT.ENC. ()
(ABZ ) MS
(CVT) P2-12 ~ P2-14
3
(1) EXT.ENC. (2) EXT.ENC.

Pin No.

A OPT_A A 5 17 23 35
/A OPT_/A /A 6 18 24 36
B OPT_B B 3 15 21 33
/B OPT_/B /B 4 16 22 34
Z OPT_Z Z 1 13 19 31
/Z OPT_/Z /Z 2 14 20 32
GND 8 11 26 29
+5V + 5 V 7 12 25 30
- - 9 10 27 28
June, 2015 3-23

ASDA-MS
3.7 EtherNet / DMCNET

MS EtherNet/DMCNET EtherNet MS
3 DMCNET
EtherNet
(1) EtherNet (2) EtherNet

Pin No
1 TXP EtherNet TX+
2 TXN EtherNet TX-
3 RXP EtherNet RX+
4 -
5 -
6 RXN EtherNet RX-
7 -
8 -
3-24 June, 2015

ASDA-MS
DMCNET
(1) DMCNET (2) DMCNET

Pin No
1 DMC_A1 DMCNET 1+
2 DMC_B1 DMCNET 1-
3 DMC_A2 DMCNET 2+
4 -
5 -
6 DMC_B2 DMCNET 2-
7 -
8 -
June, 2015 3-25

ASDA-MS
3.8 HMI TP
MS HMIHMI
(1) TP (2) TP

Pin No Pin No
1 HMI_TX+ EtherNet TX+ 14 HMI_RX+ EtherNet RX+
2 HMI_TX- EtherNet TX- 15 HMI_RX- EtherNet RX-
3 - 16 -
4 - 17 -
5 PW 24 V 18 PW 24 V
6 GND 0V 19 GND 0V
7 E_STOP_NO+ (NO) 20 ENC_EXA (A)
8 E_STOP_NO- (NO) 21 ENC_EXB (B)
9 E_STOP_NC+ (NC) 22 ENSW_NC+ (NC)
10 E_STOP_NC- (NC) 23 ENSW_NC- (NC)
11 GND 0V 24 PW 24 V
12 GND 0V 25 PW 24 V
13 GND 0V - - -
3-26 June, 2015

ASDA-MS
3.9 STO

3.9.1
3
(1) STO (2) STO

Pin No
*1 COM+ VDD(24 V) CN1 Pin 5
2 STO_A STO A+
3 /STO_A STO A-
4 STO_B STO B+
5 /STO_B STO B-
STO ABJT Output
6 FDBK_A
/ : 80 VDC / 0.5 A
STO BBJT Output
7 FDBK_B
/: 80 VDC / 0.5 A
8 COM- VDD(24V)
*1 COM+
June, 2015 3-27

ASDA-MS
STO Safety Relay
STO
3 ESTOP
24 VDC
1
2 STO_A
COM+
3
/ STO_A
Safety Relay
4 STO_B
5
/ STO_B
6 FDBK_A
7
FDBK_B
8
COM-
STO
STO
1
COM+
2 STO_A
3
/ STO_A
4 STO_B
/ STO_B
6 FDBK_A
7
FDBK_B
8
COM-
3-28 June, 2015

ASDA-MS
3.9.2 STO

STO

3

STO
STO_A/STO_A ON ON OFF OFF
STO_B/STO_B ON OFF ON OFF
STO_B lost STO_A lost STO

() () ()
(1) STO
(Servo On) STO_A STO_B (
) 10 ms E?500 Servo Off
10 ms
STO_A
H L
STO_B
H L
S_ON
ON OFF
Servo
status Servo on Servo off & E?500
(Servo On) 1
E?501 E?502 Servo Off
1s
STO_A
H L
H
STO_B
L
S_ON
ON OFF
Servo
status Servo on Servo off & E?501
June, 2015 3-29

ASDA-MS
3.9.3 STO
P2-93 STO FDBK FDBK Latch
P2-93 = X X 1 0
0: Logic A
1: Logic B

2: Logic C
3: Logic D
1: FDBK no latch
2: FDBK latch
STO (Logic ALogic BLogic CLogic

D) FDBK ( Open
STO FDBK+ FDBK- Logic C E?500 STO FDBK+
FDBK-)
FDBK_A & FDBK_B

MS
Logic A Logic B Logic C Logic D
P2-93 XX10 XX20 XX11 XX21 XX12 XX22 XX13 XX23

No No No No
FDBK Latch Latch Latch Latch
Latch Latch Latch Latch
STO Open Close Open Close
E?500 Close Open Close Open

E?501 Close Open Open Close


3-30 June, 2015

ASDA-MS
FDBK (Latch No Latch)

FDBK Latch STO FDBK Latch (
STO E?500 )
Latch
Logic C P2-93 = XX22 E?500 FDBK
3
Close FDBK Latch E?500
FDBK Close
1. FDBK (Open)
2. P2-93 = XX12 FDBK (Open)
P2-93 = XX22 FDBK Latch
FDBK E?500 DI.ARST

No Latch
Logic C P2-93 = XX12 E?500 FDBK
(Close) FDBK No Latch E?500
FDBK P2-93 = XX12
FDBK E?500 DI.ARST

P2-93 STO FDBK
June, 2015 3-31

ASDA-MS
3.9.4 STO
3 E?500
E?501
STO
STO_A lost ()
E?502 STO_B lost ()
E?503 STO_error
3-32 June, 2015

ASDA-MS
3.10 BRK.DO
MS BRK.DO

3
(1) BRK.DO (2) BRK.DO

Pin No
1 BRK.DO1 (A)
2 0V 0 V (A)
3 BRK.DO2 (B)
4 0V 0 V (B)
5 BRK.DO3 (C)
6 0V 0 V (C)
7 BRK.DO4 (D)
8 0V 0 V (D)
9 24V 24 V
10 0V 0 V
June, 2015 3-33

ASDA-MS
BRK.DO
750 W MS
3 MS
9 24 V
24 VDC
10 0V 0.4 x 4 A ()
NO
1 BRK.DO1 ()
2 0V Motor A
NO
BRK.DO2 ()
3
4 0V Motor B
NO
5 BRK.DO3 ()
6 0V Motor C
NO
7 BRK.DO4 ()
8 0V Motor D
(A)
1 1 x 0.4 = 0.4
2 2 x 0.4 = 0.8
3 3 x 0.4 = 1.2
4 4 x 0.4 = 1.6
3-34 June, 2015

ASDA-MS

4.1 4-2
4.1.1 4-2
4.1.2 4-2
4.2 P0-01 4-3
4.3 4-4
4.3.1 4-4
4.3.2 4-5
4.3.3 4-6
4.3.4 4-9
June, 2015 4-1

ASDA-MS
4.1
4
4.1.1

4.1.2

E
Type
C
(1) Controller
(2) Group 1. 2. ( Group)
(3) Axis20
1 6 (1 ~ 6)
(Error d 13
7 12
Error code013)
13 18 (D ~ I )
U
(4) User
Error Code P0-01

4-2 June, 2015

ASDA-MS
4.2 P0-01
P0-01 0
4
0 32 16
Index 16 4.2.1
Index (16 ) Error Code (16 )
U Z Y X
Error Code (Word)

(0x0) Type

(1) (2) (3) (4)
(1) U Z Group() Axis() 4
(2) Y(0x0)
(3) X 4
0x0Controller ()
0x1Group ()
0x2Axis ()
0x3User ()
0x4 ~ 0xF
(4) Error Code-
Ed013 P0-01
0x0D020013
Index (16 ) Error Code (16 )
U Z Y X
013
0D (0x0) 2
13 013
March, 2015 4-3

ASDA-MS
4.3
DRAS

4
(1)(2)
(3) 4.3.1
(1)
(2)
(3)
4.3.1
4.3.1
4.3.1

DRAS
DRAS
()
()
()
4.3.1
4-4 June, 2015

ASDA-MS
4.3.2
3000

4.3.2.1
4
4.3.2.1
March, 2015 4-5

ASDA-MS
4.3.3

4
4.3.2

Servo ON

4.3.2
4.3.3.1

Enter
4.3.3.1
4-6 June, 2015

ASDA-MS

4.3.3.2
4.3.3.2 -

4.3.3.3

()
4.3.3.4
4.3.3.3
4.3.3.4
March, 2015 4-7

ASDA-MS
4.3.3.5
Enter
4
4.3.3.5
(.dpar)

4.3.3.6

1.
2.
3.
4.3.3.6
4-8 June, 2015

ASDA-MS
4.3.4

DRAS
DRAS
4

1 DRAS
2
3
4
5
6
(6)
(4)
(3)
(5)
4.3.4.1
March, 2015 4-9

ASDA-MS
4 DRAS

( 4.3.3.1)
(1)
( 4.3.3.1)(2) Enter DRAS
(3) DRAS

1 DRAS
2
3
4
5
6(1)
(2) Enter (3)

(6)
(4)
(3)
(5)
4.3.4.2
4-10 June, 2015

5.1 MS 5-2
5.2 5-3
5.3 JOG 5-5
5.4 5-7
5.4.1 5-7
5.4.2 5-8
5.4.3 5-11
5.4.4 5-12
5.4.5 5-14
June, 2015 5-1

ASDA-MS
5.1 MS

5 (1) MS
UVW FG
3.1
(RST) MS (UVW)

(2)
ED013

DRAS > I/O
DI 0 ~ DI 7
(EMGS) 5.1.1
5.1.1 I/O
5-2 June, 2015

ASDA-MS
(EMGS) DRAS >

P2-11 1 5.1.2
5.1.3
5.1.2 P2-11
5.1.3
5.2
DRAS

5.2.1
5.2.1
June, 2015 5-3

ASDA-MS
(1) DRAS
(2)
(3)

(4)

(5)
(6)

(5) (3) (2)
(4) (6)
5.2.2
5-4 June, 2015

ASDA-MS
5.3 Jog
DRAS DRAS

5.3.1 Joint

5.3.1

P2-69 0x0000 5.3.1

P2-69 0x0001
(ACC)(DEC)(JERK)Joint PUU
Short Medium
20%PUU/
20 PUU/ (Jerk)
ACC/JERKDEC/JERK PUU/

+-
UVW
UVW
June, 2015 5-5

ASDA-MS
5 (1) DRAS
(2)
(3)
(4)
(5) Joint

(6) P2-69
0x0000
P2-69 0x0000
P2-69 0x0001
(7) (ACC)(DEC)(JERK)

(8) Jog
(4) (2) (3)

(5)
(7)
(8)
(6)
5.3.2
5-6 June, 2015

ASDA-MS
5.4
MS
-
5
5.4.1
[ 5.3 ]
[ 5.4.2 ]

,
[ 5.4.3 ]
[ 5.4.4 ]
OK
5.4.1.1
June, 2015 5-7

ASDA-MS
5.4.2
DRAS
5
5.4.2.1
5.4.2.1
5-8 June, 2015

ASDA-MS
A. ()
(1) DRAS
(2)
(3)
5
(4)
(5)
(6)

(4) (3)
(5) (2)
(6)
5.4.2.2 ()
B. ()
(1) DRAS
(2)
(3)
(4)
(5) ()
(6) A B
(7)
(8) Start
(9) Stop
(10)
(11)
(12)
June, 2015 5-9

ASDA-MS
(13) (10) ~ (12)

0.8
5 (12)
(5) (6)
(7) (8),(9)
(10)
(11) (13)
5.4.2.3 ()
5-10 June, 2015

ASDA-MS
5.4.3
(P2-47 = 1)
Notch filter
(P2-47 = 0) Notch filter P2-47 = 1
5
Notch filter
P2-47 = 0
DRAS

No
Yes
DRAS(0.01%)

P2-23P2-244
P2-24
Yes No
5.4.3.1
June, 2015 5-11

ASDA-MS
5.4.4

5 (KPP P2-00)
KPP

(Overshoot)
Hz

(PFG P2-02)

10
(KVP P2-04)
KVP

4 ~ 6
(Overshoot)
fv Hz
JMJLP1-370.1 times
P1-37 (JL/JM) Hz
(KVI P2-06)
KVI
KVI P2 06 1.5
(NLP P2-25)
KVP
KVP

NLP P2 25

(DST P2-26)
5-12 June, 2015

ASDA-MS
DRAS
5.4.4.1
5.4.4.1
(1)
(2) DRAS
(3)
(4)
(5)
(6)
(7)
(4)
(5), (6) (3)
(7)
5.4.4.2
June, 2015 5-13

ASDA-MS
5.4.5

5
()

P1-08 ()
P1-68 Moving filter ()
5-14 June, 2015

DRL(DELTA Robot Language) Lua Robot
DRL

6.1 6-2
6.1.1 6-2
6.1.2 6-3
6.2 Keywords 6-4
6.3 P 6-4
6.4 6-6
6.4.1 6-8
6.4.2 6-12
6.4.3 6-19
6.4.4 DI/O 6-37
6.4.5 Servo 6-38
6.4.6 6-39
6.5 6-41
6.6 6-43
6.6.1 6-43
6.6.2 6-44
6.6.3 6-45
6.6.4 6-45
6.6.5 6-46
June, 2015 6-1

ASDA-MS
6.1
DRAS Robot
6
6.1.1 (1)(2)
main.lua

(1)
(2)
6.1.1
6.1.1
6.1.1
F6
F5
F5 -
- -
F10 -
F11 -
Shift+F11 -
6.1.1
6-2 June, 2015

ASDA-MS
6.1.2

6.1.2.1 Lua
(DELTA Robot Language (DRL)DRL
6
Lua Lua Robot

(2)
(1) (3)
(4)
6.1.2.1
(1)
(2)
(3)
(4)
June, 2015 6-3

ASDA-MS
6.2 Keywords
Keywords and, break, do, else, elseif, end, false, for, function, if, in, local,
6 nil, not, or, repeat, return, then, true, until, while

6.3 P
P[k].< expression>
P[k]k
P

No.
Name 16 Bytes
x FLOAT32 Xm
y FLOAT32 Ym
z FLOAT32 Zm
a FLOAT32 A0.001
b FLOAT32 B0.001
c FLOAT32 C0.001
Shoulder BOOL ROBOT Shoulder Right(0)/Left(1)
Elbow BOOL ROBOT Elbow Up(0)/Down(1),
H d Ri ht(0)/L ft(1)
Flip BOOL ROBOT Flip None(0)/Have(1)
PS BOOL ROBOT No Effect(0)
I P t S t(1)
UF UINT16
TF UINT16
Coord UINT16 MCS(0), PCS(1), TCS(2), ACS(3)
6-4 June, 2015

ASDA-MS
h1=1200.0 -- h1 -1200.0
P[1].x=1000.0 -- P[1] X 1000.0m
P[1].y=2000.0 -- P[1] Y 2000.0m
P[1].z=h1 -- P[1] Z h1
6
MovP(1) -- PTP P[1]
P
Pn| n

n:

A[1]=LOCX(P1) -- P1 X A[1]
MovP(2) -- PTP P[2]
MovL(P3) -- Line P3
LOCx
LOCx(P, Value)

X X Y Z A B
CF
P
Value
X Y Z m
A B C 0.001

A[1]=LOCX(P1) -- P1 X A[1]
LOCZ(2,100) -- P[2] Z 100m
LOCF(P3,1) -- P3
June, 2015 6-5

ASDA-MS
6.4
I/O Servo

Ifthenelseend if then [elseif then ] [else ] end
While while doend
For for doend
Repeat repeatuntil
Goto goto <label>
function function() end
DELAY DELAY(t)

AccJ AccJ(Value)
DecJ DecJ(Value)
SpdJ SpdJ(Value)
JerkJ JerkJ(Value)
AccL AccL(Value)
DecL DecL(Value)
SpdL SpdL(Value)
JerkL JerkL (Value)
MaxSpdL MaxSpdL (Value)
MaxAccL MaxAccL (Value)
MaxSpdJ MaxSpdJ (Value)
MaxAccJ MaxAccJ (Value)
SetPassMode SetPassMode(PassMode)
SetPassDistance SetPassDistance(Value)
SetPassTime SetPassTime(Value)
6-6 June, 2015

ASDA-MS

MovP MovP(PBModeSpdAccDecJerk)
MovL
MovPR
MovLR
MovL(PBModeSpdAccDecJerk)
MovPR(PBModeSpdAccDecJerk)
MovLR(PBModeSpdAccDecJerk)
6
MArchP MArchP(Ph1h2h3SpdAccDecJerk)
MArchL MArchL(Ph1h2h3SpdAccDecJerk)
MArchPT MArchPT(Ph1h2h3SpdAccDecJerk)
MArchLT MArchLT(Ph1SpdAccDecJerk)
MovJ MovJ(JPSpdAccDecJerk)
MovCIRC(ECircPCircCModeBModeSpdAccDec
MovCIRC
Jerk)
DI/O

DI DI(n)
DO DO(n, a)
Servo

ServoOn ServoOn(n)
ServoOff ServoOff(n)

ModbusRead16 ModbusRead16(Adress)
ModbusRead32 ModbusRead32(Adress)
ModbusWrite16 ModbusWrite16(AdressValue)
ModbusWrite32 ModbusWrite32(AdressValue)
PLCMB3Read16 PLCMB3Read16(Adress)
PLCMB3Read32 PLCMB3Read32(Adress)
PLCMB3Write16 PLCMB3Write16(AdressValue)
PLCMB3Write32 PLCMB3Write32(AdressValue)
June, 2015 6-7

ASDA-MS
6.4.1
6 ifthenelse end
if then [elseif then ] [else ] end

if
if then

end

ifDI(1)==truethen
-- DI(1)ON MovP P1
MovP(P1)
elseifDI(2)==falsethen
-- DI(2)OFF MovL P2
MovL(P2)
else-- MovP 3
MovP(3)
end
while
while doend
while
while do

end
while
while

a={5,4,3,2,1}
i=1
sum=0
whilea[i]do
6-8 June, 2015

ASDA-MS
-- a[i]
sum=sum+a[i]-- a[i] sum
i=i+1
end 6
for
for doend
for
for =,, do

end
for for

for for

1

a={5,4,3,2,1}
i=1
sum=0
fori=1,5do
-- i 1 1[1,5]
sum=sum+a[i]
i=i+1
end
June, 2015 6-9

ASDA-MS
repeat
repeatuntil
6 repeat
repeat

until
repeat

a={5,4,3,2,1}
i=1
sum=0
repeat
sum=sum+a[i]
i=i+1
untili>#a --#a: a repeat I > #a
goto
goto <label>
label label
label ::
goto label ::

a={5,4,3,2,1}
i=1
sum=0
::START:: --label ::
sum=sum+a[i]
i=i+1
ifi<6then
gotoSTART --goto label ::
end
6-10 June, 2015

ASDA-MS
function
function() end

Function ( 1 2)
6

end

MovP(P1)
MyFunction(); -- MyFunciton
FunctionMyFunciton()
MovP(P2)--MovP P2
MovP(P3)--MovP P3
end
DELAY
DELAY(t)

t: (s)
0.000001

DELAY(0.5) -- 0.5
June, 2015 6-11

ASDA-MS
6.4.2

AccJ
AccJ(Value)
Joint
Value%

AccJ(50) --Joint 50%
DecJ
DecJ(Value)
Joint
Value%

DecJ(50) --Joint 50%
SpdJ
SpdJ(Value)
Joint
Value%

SpdJ(50) --Joint 50%
6-12 June, 2015

ASDA-MS
JerkJ
JerkJ(Value)

Joint
Value%
6
Acc/Jerk

JerkJ(50) --Joint 50%
AccL
AccL(Value)
Line
MovL_MODE REAL_SPEED
1. REAL_SPEED
2. PERCENT_SPEED
Value
1. REAL_SPEED mm/sec2
2. PERCENT_SPEED

-- REAL_SPEED
MovL_MODE=REAL_SPEED
AccL(5000) --Line 5000 mm/sec2
-- PERCENT_SPEED
MovL_MODE=PERCENT_SPEED
MaxAccL(5000000) --Line 5000000 mm/sec2
AccL(0.1)--Line 0.1% 5000 mm/sec2
June, 2015 6-13

ASDA-MS
DecL
DecL(Value)
6

Line
1. REAL_SPEED
2. PERCENT_SPEED
Value
2. PERCENT_SPEED

-- REAL_SPEED
DecL(5000) --Line 5000 mm/sec2
-- PERCENT_SPEED
DecL(0.1) --Line 0.1% 5000 mm/sec2
SpdL
SpdL(Value)
Line
1. REAL_SPEED
2. PERCENT_SPEED
Value
1. REAL_SPEED mm/sec
2. PERCENT_SPEED

-- REAL_SPEED
SpdL(200) --Line 200 mm/sec
-- PERCENT_SPEED
MaxSpdL(2000) --Line 2000 mm/sec
6-14 June, 2015

ASDA-MS
SpdL(10) --Line 10% 200 mm/sec
JerkL
JerkL(Value)
6
Line
Acc/Jerk
Value mm/sec3
1. REAL_SPEED
2. PERCENT_SPEED
a
2. PERCENT_SPEED

-- REAL_SPEED
JerkL(5000000) --Line 5000000 mm/sec3
-- PERCENT_SPEED
--Line 5000000000 mm/sec3
JerkL(0.1)--Line 0.1% 5000000 mm/sec3
MaxSpdL
MaxSpdL(Value)
Line
Value mm/sec

June, 2015 6-15

ASDA-MS
MaxAccL
MaxAccL(Value)
6

Line
Value
1. mm/sec2
2. mm/sec2
3. mm/sec3 1000

MaxAccL(100)
--Line 100 mm/sec2
--Line 100 mm/sec2
--Line 100000 mm/sec3 1000
MaxSpdJ
MaxSpdJ(Value)
Joint
Value PUU/msec

MaxSpdJ(8500) --Line 8500 PUU/msec
MaxAccJ
MaxAccJ(Value)
Joint
Value
1. PUU/msec2
2. PUU/msec2
3. PUU/msec3

MaxAccJ(100)
--Joint 100 PUU/msec2
6-16 June, 2015

ASDA-MS
SetPassMode
SetPassMode(PassMode)

PassMode
6
PassMode TM_DIS_PASS
PassMode TM_TIME_PASS

MovP("SQURE1",30,50,50,5)
SetPassMode(TM_DIS_PASS)
SetPassDistance(10) 10mm
MaxSpdL(2000) Line 2000mm/sec
MaxAccL(100000) Line 100000mm/sec
MovL("SQURE2","PASS",30,30,30,3)

SetPassMode(TM_TIME_PASS)
SetPassTime(100) 100%
June, 2015 6-17

ASDA-MS
SetPassDistance
SetPassDistance(Value)
6

Value mm

SetPassMode(TM_DIS_PASS)
SetPassDistance(20) -- 20 mm
MovL(P4,PASS,80,40,40,40)
MovL(P3,PASS,80,40,40,40)
-- P4 20 mm
SetPassTime
SetPassTime(Value)

Value

MaxSpdL(2000) Line 2000mm/sec
MaxAccL(100000) Line 100000mm/sec
SetPassMode(TM_TIME_PASS)
SetPassTime(100) 100%
MovL(P4,PASS,80,40,40,40)
MovL(P3,PASS,80,40,40,40)
100%

6-18 June, 2015

ASDA-MS
6.4.3
I/O Servo
Robot (Spd, Acc, Dec,
Jerk )
6
(1) SpdAccDecJerk
(2) SpdAccDecSpdAccDec Jerk
(3) SpdAccDecJerkSpdAccDecJerk
(1)
(2)
Line MovLMovLRMArchLMovCIRC
REAL_SPEED
PERCENT_SPEED REAL_SPEED
mm sec PERCENT_SPEED MaxSpdL MaxAccL

Line PERCENT_SPEED
3
(4) 1 SpdAccDec Jerk

June, 2015 6-19

ASDA-MS
MovP
MovP(P, BMode, Spd, Acc, Dec, Jerk)
6

PTP
P( )
BModePASSPASS

Spd%

Acc%
Dec%
Jerk%


MovP(1)
-- PTP P[1]

MovP(2,PASS)
MovP(1,PASS)
-- PTP P[2] P[1]

MovP(3,100,50,50)
-- PTP 100% 50% P[3]
MovP(P4,PASS,80,40,40)
MovP(P3,PASS,80,40,40)
-- PTP 80% 40% P4
P3
MovP(P5,80,40,40,10)
-- PTP 80% 40% 10%
P5
6-20 June, 2015

ASDA-MS
MovL
MovL(P, BMode, Spd, Acc, Dec, Jerk)

Line
6
REAL_SPEED
P( )
BModePASSPASS

Spd mm/sec

Acc mm/sec2

Dec mm/sec2

Jerk mm/sec3

PERCENT_SPEED
P( )
BModePASSPASS

Spd%

Acc%
Dec%
Jerk%

-- REAL_SPEED
JerkL(5000000) --Line 5000000 mm/sec3
MovL(P1)
-- Line P1

June, 2015 6-21

ASDA-MS
MovL(2,PASS)
MovL(1,PASS)
6 -- Line P[2] P[1]

MovL(3,100,5000,5000)
-- Line 100 mm/sec 5000 mm/sec2
P[3]
MovL(P4,PASS,80,4000,4000)
MovL(P3,PASS,80,4000,4000)
-- Line 80 mm/sec 4000 mm/sec2
P4 P3
MovL(P5,80,4000,4000,3000000)
-- Line 80mm/sec 4000 mm/sec2
3000000 mm/sec3 P5
-- PERCENT_SPEED
JerkL(30) --Line 30%
AccL(60) --Line 60%
DecL(60) --Line 60%
SpdL(50) --Line 50%
MovL(P1)
-- Line P1

MovL(2)
-- Line P[2]

MovL(P1,60)
-- Line 60%
60% P1
MovL(3,80,50,50)
-- Line 80%
50% P[3]
6-22 June, 2015

ASDA-MS
MovL(P4,PASS,80,40,40)
MovL(P3,PASS,80,40,40)
-- Line 80%
40% P4 P3
MovL(P5,80,40,40,20)
6
-- Line 80%
40% 20% P5
MovPR
MovPR(P, BMode, Spd, Acc, Dec, Jerk)

PTP
P( )
BModePASSPASS

Spd%

Acc%
Dec%
Jerk%


MovPR(1)
-- PTP P[1]

MovPR(2,PASS)
MovPR(1,PASS)
-- PTP P[2] P[1]

MovPR(3,100,50,50)
-- PTP 100% 50% P[3]
MovPR(P4,PASS,80,40,40)
June, 2015 6-23

ASDA-MS
MovPR(P3,PASS,80,40,40)
-- PTP 80% 40% P4
6 P3
MovPR(P5,100,50,50,10)
-- PTP 100% 50% 10%
P5
MovLR
MovLR(P, BMode, Spd, Acc, Dec, Jerk)

Line
REAL_SPEED
P( )
BModePASSPASS

Spd mm/sec

Acc mm/sec2

Dec mm/sec2

Jerk mm/sec3

PERCENT_SPEED
P( )
BMode: PASSPASS

Spd%

Acc%
Dec%
Jerk%
6-24 June, 2015

ASDA-MS
-- REAL_SPEED
JerkL(5000000)
AccL(25000)
--Line 5000000 mm/sec3
--Line 25000 mm/sec2
6
MovLR(P1)
-- Line P1

MovLR(2,PASS)
MovLR(1,PASS)
-- Line P[2] P[1]

MovLR(3,100,5000,5000)
-- 100mm/sec Line 5000 mm/sec2
P[3]
MovLR(P4,PASS,80,4000,4000)
MovLR(P3,PASS,80,4000,4000)
-- 80mm/sec Line 4000 mm/sec2
P4 P3
MovLR(P5,80,4000,4000,3000000)
-- Line 80mm/sec 4000 mm/sec2
3000000 mm/sec3 P5
-- PERCENT_SPEED
AccL(60) --Line 60%
DecL(60) --Line 60%
SpdL(50) --Line 50%
MovLR(P1)
-- Line P1
June, 2015 6-25

ASDA-MS

MovLR(2)
6 -- Line P[2]

MovLR(P1,60)
-- Line 60%
60% P1
MovLR(3,80,50,50)
-- Line 80%
50% P[3]
MovLR(P4,PASS,80,40,40)
MovLR(P3,PASS,80,40,40)
-- Line 80%
40% P4 P3
MovLR(P5,80,40,40,10)
-- Line 80%
40% 10% P5
MArchP
MArchP(P, h1, h2, h3, Spd, Acc, Dec, Jerk)

PTP
P( )
h1Z mm
h2Z () Z mm
h3Z () Z mm
Spd%

Acc%
Dec%
Jerk%

Ph2h1h3
6-26 June, 2015

ASDA-MS

AccJ(30)
DecJ(30)
SpdJ(20)
--Joint 30%
--Joint 30%
--Joint 20%
6
MArchP(P1,100,50,40)
-- PTP P1 Z 100 mm
Z 50 mmZ 40 mm

MArchP(2,100,50,40,10,5,5)
-- PTP P[2]Z 100 mmZ
50 mmZ 40 mm 10%
5%
MArchP(P3,100,50,40,10,5,5,2)
-- PTP P3 Z 100 mm
Z 50 mmZ 40 mm 10%
5% 2%
MArchL
MArchL(P, h1, h2, h3, Spd, Acc, Dec, Jerk)

Line
REAL_SPEED
P( )
h1Z mm
h2Z () Z mm
h3Z () Z mm
Spd mm/sec

Acc mm/sec2

Dec mm/sec2

June, 2015 6-27

ASDA-MS
Jerk mm/sec3

PERCENT_SPEED
6 P(
h2Z mm
)
h1Z () Z mm
h3Z () Z mm
Spd%

Acc%
Dec%
Jerk%

Ph2h1h3

-- REAL_SPEED
JerkL(5000000) --Line 5000000 mm/sec3
MArchL(P1,100,50,40)
-- Line P1 Z 100 mm
Z 50 mmZ 40 mm

MArchL(2,100,50,40,100,5000,5000)
-- Line P[2]Z 100 mmZ
50 mmZ 40 mm 100 mm/sec
5000 mm/sec2
MArchL(P3,100,50,40,100,5000,5000,3000000)
-- Line P3 Z 100 mm
Z 50 mmZ 40 mm 100
mm/sec 5000 mm/sec2 3000000 mm/sec3
-- PERCENT_SPEED
6-28 June, 2015

ASDA-MS

JerkL(30)
AccL(60)
DecL(60)
--Line 30%
--Line 60%
--Line 60%
6
SpdL(50) --Line 50%
MArchL(P1,100,50,40)
-- Line P1 Z 100 mm
Z 50 mmZ 40 mm

MArchL(P2,100,50,40,60)
-- Line P2 Z 100 mm
Z 50 mmZ 40 mm 60%
60%
MArchL(2,100,50,40,80,50,50)
-- Line P[2]Z 100 mmZ
50 mmZ 40 mm 80% 50%
MArchL(P3,100,50,40,80,50,50,5)
-- Line P3 Z 100 mm
Z 50 mmZ 40 mm 80%
50% 5%
June, 2015 6-29

ASDA-MS
MArchPT
MArchPT(P, h1, h2, h3, Spd, Acc, Dec, Jerk)
6 PTP MArchP MArchP

MArchPT
P( )
h1Z mm
h2Z () Z mm
h3Z () Z mm
Spd%

Acc%
Dec%
Jerk%

P, h2, h1, h3


MArchPT(P1,100,50,40)
-- PTP P1 Z
100 mmZ 50 mmZ 40
mm
MArchPT(2,100,50,40,10,5,5)
-- PTP P[2]Z
100 mmZ 50 mmZ 40 mm
10% 5%
MArchPT(P3,100,50,40,10,5,5,2)
-- PTP P3 Z
100 mmZ 50 mmZ 40
mm 10% 5% 2%
6-30 June, 2015

ASDA-MS
MArchLT
MArchLT(P, h1, Spd, Acc, Dec, Jerk)

Line MArchL MArchL
MArchLT
6
REAL_SPEED
P( )
h1Z mm
Spd mm/sec

Acc mm/sec2

Dec mm/sec2

Jerk mm/sec3

PERCENT_SPEED
P( )
h1Z mm
Spd%

Acc%
Dec%
Jerk%

P, h1

-- REAL_SPEED
JerkL(5000000) --Line 5000000 mm/sec3
MArchLT(P1,100)
-- Line P1 Z
June, 2015 6-31

ASDA-MS
100 mm

6 MArchLT(2,100,100,5000,5000)
-- Line P[2]Z 100
mm 100 mm/sec 5000 mm/sec2
MArchLT(P3,100,100,5000,5000,3000000)
-- Line P3 Z
100 mm 100 mm/sec 5000 mm/sec2
3000000 mm/sec3
-- PERCENT_SPEED
AccL(60) --Line 60%
DecL(60) --Line 60%
SpdL(50) --Line 50%
MArchLT(P1,100)
-- Line P1 Z
100 mm

MArchLT(P2,100,60)
-- Line P2 Z
100 mm 60% 60%
MArchLT(2,100,80,50,50)
-- Line P[2]Z 100
mm 80% 50%
MArchLT(P3,100,80,50,50,5)
-- Line P3 Z
100 mm 80% 50% 5%
6-32 June, 2015

ASDA-MS
MovJ
MovJ(J, P, Spd, Acc, Dec, Jerk)

PTP
JJn n(
6
)
P X PUU
Spd%
Acc%
Dec%
Jerk%


MovJ(J1,P1)
--J1 PTP P1

MovJ(2,2,80,10,10)
--J2 PTP P[2] 80% 10%
MovJ(J3,P3,80,10,10,2)
--J3 PTP P3 80%
10% 2%
MovCIRC
MovCIRC(ECirc, PCirc, CMode, BMode, Spd, Acc, Dec, Jerk)

REAL_SPEED
ECirc( )
PCirc(
)
June, 2015 6-33

ASDA-MS
CMode CM_BORDER_ARCCM_BORDER_CIRC

BModePASSPASS
6
Spd mm/sec

Acc mm/sec2

Dec mm/sec2

Jerk mm/sec3

PERCENT_SPEED
ECirc( )
PCirc(
)
CMode CM_BORDER_ARCCM_BORDER_CIRC

BModePASSPASS

Spd%

Acc%
Dec%
Jerk%

ECircPCircCMode

-- REAL_SPEED
JerkL(1000000) -- 1000000 mm/sec3
AccL(5000) -- 5000 mm/sec2
DecL(5000) -- 5000 mm/sec2
SpdL(150) -- 150 mm/sec
MovCIRC("CEnd","CAux",CM_BORDER_ARC)
-- CEnd CAux
6-34 June, 2015

ASDA-MS

MovCIRC("CEnd","CAux",CM_BORDER_CIRC,150,20000,20000)
-- CEnd CAux
150 mm/sec
6
20000 mm/sec2 20000 mm/sec2
MovCIRC("CEnd","CAux",CM_BORDER_CIRC,"PASS",300,10000,10000)
MovCIRC("CEnd2","CAux2",CM_BORDER_CIRC,"PASS",300,10000,10000)
-- CEnd CAux
300 mm/sec
10000 mm/sec2 10000 mm/sec2
MovCIRC("CEnd","CAux",CM_BORDER_CIRC,150,20000,20000,2000000)
-- CEnd CAux
150 mm/sec
20000 mm/sec2 20000 mm/sec2 2000000
mm/sec3
-- PERCENT_SPEED
AccL(60) --Line 60%
DecL(60) --Line 60%
SpdL(50) --Line 50%
MovCIRC("CEnd","CAux",CM_BORDER_ARC)
-- CEnd CAux

MovCIRC("CEnd","CAux",CM_BORDER_ARC,50)
-- CEnd CAux
50% 50%
30%
MovCIRC("CEnd","CAux",CM_BORDER_CIRC,50,30,30)
-- CEnd CAux
June, 2015 6-35

ASDA-MS
50% 30%
30%
6 MovCIRC("CEnd","CAux",CM_BORDER_CIRC,"PASS",60,40,40)
MovCIRC("CEnd2","CAux2",CM_BORDER_CIRC,"PASS",60,40,40)
-- CEnd CAux
60% 40%
40%
MovCIRC("CEnd","CAux",CM_BORDER_CIRC,50,30,30,5)
-- CEnd CAux
50% 30%
30% 5%
6-36 June, 2015

ASDA-MS
6.4.4 DI/O
I/O User I/O I/O DO ON OFF
DI
6
DI(n)
digital input
nDI

ifDI(1)==1 -- DI1 1
MovL(P1) -- Line P1
end
DO
DO(n,a)
digital output
nDO
aON OFF

ifDO(1)==1 -- DO1 1
DO(2,ON) -- DO2 ON
end
June, 2015 6-37

ASDA-MS
6.4.5 Servo
ServoOn
6 ServoOn(n)

n

ServoON(1) -- 1
ServoOff
ServoOff(n)

n

ServoOff(1) -- 1
6-38 June, 2015

ASDA-MS
6.4.6
ModbusRead16
ModbusRead16(Adress)
Modbus (16 bits)
6
Adress 16 0x0000 0x97FF

ModbusRead16(0x00E0) -- Modbus 0x00E0
ModbusRead32
ModbusRead32(Adress)
Modbus (32 bits)

ModbusRead32(0x0140) -- Modbus 0x0140
ModbusWrite16
ModbusWrite16(Adress, Value)
Modbus (16 bits)
Value

ModbusWrite16(0x01A0,10) -- Modbus 0x01A0 10
ModbusWrite32
ModbusWrite32(Adress, Value)
Modbus (32 bits)
Value

ModbusWrite32(0x01B0,50) -- Modbus 0x01B0 50
June, 2015 6-39

ASDA-MS
PLCMB3Read16
PLCMB3Read16(Adress)
6

PLC (16 bits)
Adress 10 0 77823

PLCMB3Read16(448) -- MB3 448
PLCMB3Read32
PLCMB3Read32(Adress)
PLC (32 bits)
Adress 10 0 77823

PLCMB3Read32(640) -- MB3 640
PLCMB3Write16
PLCMB3Write16(Adress, Value)
PLC (16 bits)
Adress 10 0 77823
Value

PLCMB3Write16(932,10) -- MB3 932 10
PLCMB3Write32
PLCMB3Write32(Adress, Value)
PLC (32 bits)
Adress 10 0 77823
Value

PLCMB3Write32(948,50) -- MB3 948 50
6-40 June, 2015

ASDA-MS
6.5

+
-
6
*
/
^
AND
OR
XOR
!
>
>=
<
<=
==
~=
ABS(x)
ACOS(x) (in radians)
ASIN(x) (in radians)
ATAN(x) (in radians)
ATAN2(y, x) y/x (in radians)
CEIL(x) x
COS(x) (in radians)
COSH(x)
DEG(x)
EXP(x) e x
FLOOR(x) x
FMOD(x, y) x/y
LOG10(x) 10 x
LOG(x) x
MAX(x, )
MIN(x, )
MODF(x) x
POW(x, y) x y
June, 2015 6-41

ASDA-MS
RAD(x)
SIN(x) (in radians)
6 SINH(x)
SQRT(x)
TAN(x)

x
(in radians)
TANH(x)
6-42 June, 2015

ASDA-MS
6.6
(System Function Library) DRL (Function Module)

system.luz

6

6.6.1
DRAS

6.6.1.1 -
6.6.1.2
June, 2015 6-43

ASDA-MS
6.6.2

6 system.luz

6.6.2.1
(__XXX__.lua)
6-44 June, 2015

ASDA-MS
6.6.3

()
6

6.6.3.1
system.luz .lux
.lua
6.6.4
DRL

6.6.4.1
June, 2015 6-45

ASDA-MS
6.6.5
DRL /
6.6.5.1
6.6.5.2
6-46 June, 2015

ASDA-MS
(summary)

6.6.5.3
6.6.5.4
DRAS ---
(tag)
6.6.5.5 ---
6.6.5.6 ()
June, 2015 6-47

ASDA-MS
<Summary><argument>

6
6.6.5.7
\n\t
6-48 June, 2015

MS

7.1 MS 7-2
7.1.1 (MCS) 7-2
7.1.2 (PCS) 7-3
7.1.3 (TCS) 7-4
7.1.4 (ACS) 7-4
7.1.5 7-5
7.2 7-10
7.2.1 7-10
7.2.2 7-10
7.2.3 7-11
7.2.4 7-11
7.3 7-12
7.3.1 7-13
7.3.2 7-14
7.3.3 7-16
7.3.4 7-17
7.3.5 7-17
7.3.6 7-18
7.4 7-19
7.4.1 7-20
7.4.2 7-21
7.4.3 7-22
7.4.4 7-22
7.4.5 7-23
7.4.6 7-23
7.5 7-24
7.5.1 7-24
7.5.2 7-25
7.5.3 7-25
7.5.4 7-26
June, 2015 7-1

ASDA-MS
7.1 MS
MS
7

(MCS)
(PCS)
(TCS)
(ACS)
()

1. 0
2. 0
3.

4.

5.

6.
7.1.1 (MCS)

MS
7.1.1.1
7.1.1.1 (MCS)
7-2 June, 2015

ASDA-MS
7.1.2 (PCS)

7.1.2.1

7
7.1.2.1 (PCS)

MS

June, 2015 7-3

ASDA-MS
7.1.3 (TCS)

7
MS
7.1.3.1

7.1.3.1 (TCS)
7.1.4 (ACS)
(
) MS 4
SCARA MS
PUU
7-4 June, 2015

ASDA-MS
7.1.5

7.1.5.1
(1) (2) (3)
(4)
7.1.5.1
(1)
(2)
(3)
(4)
June, 2015 7-5

ASDA-MS
(1)
7 World
(2)
Joint
UserTool
0 ~ 9 0
UserTool

(3)
0 ~ 9 0
World
UserTool

(4)

WorldMCSACS
JointPCSACS

UserPCSACS

ToolPCSACS

1. UF(0 ~ 9)
2. TF
(0 ~ 9)
3. Coord
(013)

P[example].x=25000
P[example].y=40000
P[example].z=100000
P[example].a=0.0
P[example].b=0.0
P[example].c=0.0
P[example].Elbow=HAND_RIGHT
P[example].PS=0
P[example].UF=0
P[example].TF=0
P[example].Coord=0
7-6 June, 2015

ASDA-MS
7.1.5.3
7
(1) (2) (3)
(4)
7.1.5.3
(1)
0 ~ 9 0

(2)
0 ~ 9 0

(3)
MCS
PCSTCSACS
(4) /
June, 2015 7-7

ASDA-MS
7.1.5.4
(5)
(1) (2)
(3) (4)
(6)
7.1.5.4
(1) /
(2)
(3) /
(4)
(5)

/(um)
X / X (um)
Y / Y (um)
(6)

/(um)

/(um)

/(0.001)
7-8 June, 2015

ASDA-MS
MS>
Controller>P2 P2-06P2-07P2-08 P2-09
MS 7
7.1.5.5

P2-06 - 32-bit
P2-07 0 32-bit
P2-08 0 - 32-bit
P2-09 0 - 32-bit
June, 2015 7-9

ASDA-MS
7.2
DRAS
7.2.1
World

7.2.1.1 World
World

MCSACSMCSACS

7.2.2
Coord 0
Coord 0
UF

P[example].x=25000
P[example].y=40000
P[example].z=100000
P[example].a=0.0
P[example].b=0.0
P[example].c=0.0
P[example].PS=0
P[example].UF=0
P[example].TF=0
P[example].Coord=0
7-10 June, 2015

ASDA-MS
7.2.3

MCS

MCS

7
7.2.3.1
7.2.4

P2-06 0x00010020

1. P2-06 0x00000024()
2. P2-07 0x00000013( 0 )
3. P2-09 x (um)
4. P2-07 0x01000013( 1 )
5. P2-09 y (um)
6. P2-07 0x02000013( 2 )
7. P2-09 z (um)
8. P2-07 0x03000013( 3 )
9. P2-09 x A(0.001)
10. P2-07 0x04000013( 4 )
11. P2-09 y B(0.001)
12. P2-07 0x05000013( 5 )
13. P2-09 z C(0.001)
June, 2015 7-11

ASDA-MS

1. P2-06 0x00000124()
2. P2-07 0x00000013( 0 )
7 3.
4.
P2-09 x (um)
P2-07 0x01000013( 1 )
5. P2-09 y (um)
6. P2-07 0x02000013( 2 )
7. P2-09 z (um)
8. P2-07 0x03000013( 3 )
9. P2-09 x A(0.001)
10. P2-07 0x04000013( 4 )
11. P2-09 y B(0.001)
12. P2-07 0x05000013( 5 )
13. P2-09 z C(0.001)
7.3
MS4 10 ( 0 ~ 9) 0
0
1 ~ 9
MS

7-12 June, 2015

ASDA-MS
7.3.1

(Po)x (Px) y (Py)

7
7.3.1.1

7.3.1.1
1.

PoPx Py (
)
2.
MS

June, 2015 7-13

ASDA-MS
1. Po
7
2. 1 Px Py( 7.3.1.1 )
3. MS

7.3.2

7.3.6
1. (Po)
1.1. P2-07 0x00010013( x )
1.2. P2-08 100
1.3. P2-07 0x01010013( y )
1.4. P2-08 100
1.5. P2-07 0x02010013( z )
1.6. P2-08 100
1.7. P2-06 0x01011142( 1 Po )
2. x (Px)
2.1. P2-07 0x00010013( x )
2.2. P2-08 101
2.3. P2-07 0x01010013( y )
2.4. P2-08 100
2.5. P2-07 0x02010013( z )
2.6. P2-08 100
2.7. P2-06 0x01012142( 1 Px )
7-14 June, 2015

ASDA-MS
3. y (Py)
3.1. P2-07 0x00010013( x )
3.2. P2-08 100
3.3.
3.4.
P2-07 0x01010013( y )
P2-08 101
7
3.5. P2-07 0x02010013( z )
3.6. P2-08 100
3.7. P2-06 0x01013142( 1 Py )
4.
4.1. P2-06 0x01000141
4

P2-06 0x01010040

1. (Po)
1.1. P2-07 0x00010013( x )
1.2. P2-08 100
1.3. P2-07 0x01010013( y )
1.4. P2-08 100
1.5. P2-07 0x02010013( z )
1.6. P2-08 100
1.7. P2-06 0x01011142( 1 Po )
2. xyz
2.1. P2-07 0x00010013( x )
2.2. P2-08 0
2.3. P2-07 0x01010013( y )
2.4. P2-08 0
2.5. P2-07 0x02010013( z )
2.6. P2-08 0
2.7. P2-06 0x01012142( 1 xyz )
June, 2015 7-15

ASDA-MS
3.
3.1. P2-06 0x01000141
7 3
P2-06
0x01010040

7.3.3
User

7.3.3.1 User

User
PCSACSPCS
ACS(PUU)
7-16 June, 2015

ASDA-MS
7.3.4
Coord 1
UF 0

7

P[example].x=25000
P[example].y=40000
P[example].z=100000
P[example].a=0.0
P[example].b=0.0
P[example].c=0.0
P[example].PS=0
P[example].UF=1 1
P[example].TF=0
P[example].Coord=1
7.3.5

PCS()

7.3.5.1
June, 2015 7-17

ASDA-MS
7.3.6
()
7
1 Po
1. P2-06 0x01001142( 1 Po )
2. P2-07 0x00000013( 0 )
3. P2-09 Po x (um)
4. P2-07 0x01000013( 1 )
5. P2-09 Po y (um)
6. P2-07 0x02000013( 2 )
7. P2-09Po z (um)
Px Py 1 0x01002142
(Px)0x01003142(Py)
()

1
1. P2-06 0x01001242( 1 )
2. P2-07 0x00000013( 0 )
3. P2-09 x A(0.001)
4. P2-07 0x01000013( 1 )
5. P2-09 y B(0.001)
6. P2-07 0x02000013( 2 )
7. P2-09 z C(0.001)

1
P2-06 0x01010040
1

1
P2-06 0x01010F41
1
7-18 June, 2015

ASDA-MS

1. P2-06 0x00000044()
2. P2-07 0x00000013( 0 )
3.
4.
P2-09 x (um)
P2-07 0x01000013( 1 )
7
5. P2-09 y (um)
6. P2-07 0x02000013( 2 )
7. P2-09 z (um)
8. P2-07 0x03000013( 3 )
9. P2-09 x A(0.001 )
10. P2-07 0x04000013( 4 )
11. P2-09 y B(0.001 )
12. P2-07 0x05000013( 5 )
13. P2-09 z C(0.001 )
7.4
MS 10 ( 0 ~ 9) 0
0
1 ~ 9
MS

June, 2015 7-19

ASDA-MS
7.4.1
(w)(h)(e)

7.4.1.1

1.

wh e ()
2. MS

7-20 June, 2015

ASDA-MS
7.4.2

7
1. (w)(h)(e)
1.1. P2-07 0x00010013( w)
1.2. P2-08 1000
1.3. P2-07 0x01010013( h)
1.4. P2-08 2000
1.5. P2-07 0x02010013( e)
1.6. P2-08 10000
1.7. P2-06 0x01011132( whe )
2.
2.1. P2-06 0x01010231( 1 )
2

P2-06 0x01010050
June, 2015 7-21

ASDA-MS
7.4.3
Tool

7.4.3.1 Tool

Tool
PCSACS
PCSACS
(PUU)
7.4.4
TF 0
Coord 0(
) 1() 0
UF 1UF

P[example].x=25000
P[example].y=40000
P[example].z=100000
P[example].a=0.0
P[example].b=0.0
P[example].c=0.0
P[example].PS=0
P[example].UF=1 1
P[example].TF=1 1
P[example].Coord=1 0 1
7-22 June, 2015

ASDA-MS
7.4.5

MCS(
)PCS()
7
7.4.5.1
7.4.6
()
1
1. P2-06 0x01001132( 1 )
2. P2-07 0x00000013( 0 )
3. P2-09 w(um)
4. P2-07 0x01000013( 1 )
5. P2-09 h(um)
6. P2-07 0x02000013( 2 )
7. P2-09 e (0.001)

1
P2-06 0x01010030
1

1
P2-06 0x01010050
1
June, 2015 7-23

ASDA-MS
7 P2-06 0x01010F31
1
7.5
MS SCARA
SCARA MS

7.5.1
Joint

7.5.1.1
Joint
PCS
ACS
PCSACS
(PUU)
7-24 June, 2015

ASDA-MS
7.5.2
Coord 3
Coord 3
TF
UF
7

P[example].x=25000
P[example].y=40000
P[example].z=100000
P[example].a=0.0
P[example].b=0.0
P[example].c=0.0
P[example].PS=0
P[example].UF=0
P[example].TF=0
P[example].Coord=3
7.5.3

ACS

ACS

7.5.3.1
June, 2015 7-25

ASDA-MS
7.5.4

7 (PUU)
1. P2-06 0x00000014()
2. P2-07 0x00000013( 0 )
3. P2-09(PUU)
4. P2-07 0x01000013( 1 )
5. P2-09(PUU)
6. P2-07 0x02000013( 2 )
7. P2-09(PUU)
8. P2-07 0x03000013( 3 )
9. P2-09(PUU)
(PUU)
1. P2-06 0x00000114()
2. P2-07 0x00000013( 0 )
3. P2-09(PUU)
4. P2-07 0x01000013( 1 )
5. P2-09(PUU)
6. P2-07 0x02000013( 2 )
7. P2-09(PUU)
8. P2-07 0x03000013( 3 )
9. P2-09(PUU)
()
1. P2-06 0x00000314()
2. P2-07 0x00000013( 0 )
3. P2-09(0.001)
4. P2-07 0x01000013( 1 )
5. P2-09(0.001)
6. P2-07 0x02000013( 2 )
7. P2-09(0.001)
8. P2-07 0x03000013( 3 )
9. P2-09(0.001)
7-26 June, 2015

ASDA-MS
()
1. P2-06 0x00000414()
2.
3.
4.
P2-07 0x00000013( 0 )
P2-09(0.001)
P2-07 0x01000013( 1 )
7
5. P2-09(0.001)
6. P2-07 0x02000013( 2 )
7. P2-09(0.001)
8. P2-07 0x03000013( 3 )
9. P2-09(0.001)
June, 2015 7-27

ASDA-MS
()
7-28 June, 2015

MS (DI)
(DO)
8.1 8-2
8.2 8-3
8.3 8-6
P0-xx 8-6
P1-xx 8-9
P2-xx 8-12
P3-xx 8-20
8.4 8-28
8.5 8-30
P0-xx 8-30
P1-xx 8-32
P2-xx 8-39
P3-xx 8-46
P4-xx 8-46
P5-xx Motion 8-47
P6-xx 8-48
8.1 (DI) 8-48
8.2 (DO) 8-49
June, 2015 8-1

ASDA-MS
8.1
MS
8 P

0 (P0-xx)
1 (P1-xx)
2 (P2-xx)
3 (P3-xx)
0 (P0-xx)
1 (P1-xx)
2 (P2-xx)
3 (P3-xx)
4 (P4-xx)
5Motion (P5-xx)
6 (P6-xx)
Sz
Tz
DMC DMCNET

Servo On

8-2 June, 2015

ASDA-MS
8.2

P0-00

-
8
P0-01 - -
P0-02 -
P0-03 - -
P0-04 - -
P0-05 - -
P0-06 - -
P0-07 Lua FTP - kBytes
P0-08 - Hour

P1-00 0x0000 -
P1-01 - -
P1-06 FTP 0x123456 -
P1-07 0x0fff0000 -
P1-08 - -
P1-09 - -
P1-10 (16-bit) - -

P2-00 - -
P2-01 0 -
P2-02 0 -
P2-03 0 -
P2-06 - -
P2-07 0 -
P2-08 0 -
P2-09 0 -
June, 2015 8-3

ASDA-MS
8 P2-12
P2-13
P2-14

0
0
-
-
-

P3-00 0x0001 -
P3-01 0x0003 bps
P3-02 0x0006 -
P3-05 0x0000 -
P3-06 USB 0x0000 -
P3-08 0x0000 -
P3-20 EtherNet - -
P3-21 EtherNet IP - -
P3-22 EtherNet - -
P3-23 EtherNet - -
P3-24 EtherNet 0x00000000 -

P3-25 EtherNet IP 0xC0A80101 -
P3-26 EtherNet 0xFFFFFF00 -
P3-27 EtherNet 0xC0A80101 -
P3-30 DMCNET 0x00000000 -
P3-31 DMCNET NO.1 - -

8-4 June, 2015

ASDA-MS
DMCNET NO.11
8
P3-41 - -

Servo On

June, 2015 8-5

ASDA-MS
8.3
8 P0-xx
P0-00
0000H
0001H
ALL
- -
DEC 16-bit

0002H
P0-01 ()
0003H
- ALL
32 Bits 0
-

HEX 32-bit

INDEX (16-Bits) ERROR CODE (16-Bits)
U Z Y X ERROR CODE
NO (0x0) TYPE (WORD)
NO
Group Axis NO.
TYPE
0x0Controller
0x1Group
0x2Axis
0x3User
0x4~0xF
0004H
P0-02
0005H
ALL
- -
DEC 32-bit

8-6 June, 2015

ASDA-MS
0006H
P0-03
0007H
- ALL
-
HEX

-
16-bit
8

0xUZYX

0x4400 4
SCARA
0x4500 5
0x3300 3 ()
0x3301 3 ( 1)
0x3302 3 ( 2)
DELTA
0x3400 4 ()
0x3401 4 ( 1)
0x3402 4 ( 2)
0008H
P0-04
0009H
- ALL
- -
HEX 32-bit

H G F E D C B A
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7~4 3~0
Axis ID
0 0
or [ ID ]
[ Monitor E 0
ID ]
[ GrpAxNo ] Group ID
F F
[ ExtraID ]
SV 00 0000 ~ 00 03FF
PLC
F 0 DV 00 0400 ~ 00 3FFF
M3
DH 00 4000 ~ 01 2FFF
000AH
P0-05
000BH
- ALL
- -
HEX 16-bit

June, 2015 8-7

ASDA-MS
000CH
P0-06
000DH
- ALL
8 -
DEC

-
16-bit
(channel) P0-04
0 ~ 100 101 ~ 116

16 ( P3-08 )
000EH
P0-07 Lua FTP
000FH
- ALL
kBytes -
DEC 16-bit

Lua FTP
0010H
P0-08
0011H
- ALL
Hour -
DEC 16-bit

8-8 June, 2015

ASDA-MS
P1-xx
0100H

8
P1-00
0101H
- ALL
- -
DEC 16-bit

0xUZYX

0x4400 4
SCARA
0x4500 5
0x3300 3 ()
0x3301 3 ( 1)
0x3302 3 ( 2)
DELTA
0x3400 4 ()
0x3401 4 ( 1)
0x3402 4 ( 2)
0101H
P1-01
0102H
- ALL
- -
DEC 16-bit

PLC
0xUZYX

0 PLC PLC
1 PLC USER PLC
P1-02~P1-05
June, 2015 8-9

ASDA-MS
010CH
P1-06 FTP
010DH
0x123456 ALL
8 -
HEX

-
32-bit
Lua FTP

1.
2.
3.
4. 1 0
FTP 6 ~ 8 0 a ~ f 0 ~ 9
modbus 16 0x123456ftp ASCII
123456
010EH
P1-07
0110FH
0x0FFF0000 ALL
- -
HEX 32-bit

DO DO
16-bit 16-bit
32-bit 16-bit 12 User DO1 0

PLC Lua DO( DO ) Modbus DO(
DO ) Word
Modbus 0x00000FFF
(0x0FFF0000)
8-10 June, 2015

ASDA-MS
DO
I/O MODBUS

DO DO

P1-07 8
DOPLC%Q
PLC I/O
%I %Q

DI PLC
PLC
DO%Q
%Q
MUX
DO
DODI
0110H
P1-08
0111H
- ALL
- -
HEX 32-bit

0112H
P1-09
0113H
- ALL
- -
HEX 32-bit

0110H
P1-10 (16-bit)
0111H
- ALL
- -
HEX 16-bit

June, 2015 8-11

ASDA-MS
P2-xx
0200H

8
P2-00
0201H
- ALL
- 0x00000000 ~ 0xFFFFFFFF
HEX 32-bit

P2-00 ~ P2-03
0202H
P2-01
0203H
- ALL
HEX 32-bit

0xDCBAUZYX
D C B A U Z Y X

0 0x0013
- []
1 0x0013
[8]/
0204H
P2-02
0205H
- ALL
- -2147483648 ~ +2147483647
DEC 32-bit

0 P2-01
0206H
P2-03
0207H
- ALL
- -
DEC 32-bit

8-12 June, 2015

ASDA-MS
0 P2-01
P2-00
P2-00 P2-03
/ D C B A UZYX
/ /
-
3*
Bit000 / 1
Bit010() / 1()
Bit020 / 1
Bit03
Bit04 ~ 07
0x0031 BIN

- R [0d]

[1d ~ 09d]

Bit08 ~ 11
Bit09 ~ 15
2h
1* -
0x0041 HEX 3h
4h
(mm/s) 0x0012 DEC XYZ
0x0022 DEC J1 ~ J6
(um) 0x0032 DEC 1 ~ 6

R/W 0x0042 DEC J1 ~ J6 1

(um) 2* 0x0052 DEC J1 ~ J6 0

(PUU) 0x0062 DEC J1 ~ J6

(PUU) 0x0072 DEC J1 ~ J6

(0.001 ) 0x0082 DEC J1 ~ J6
R
(0.001 ) 0x0092 DEC J1 ~ J6

1. ()
2. SCARA / 4
2
3. 0 R 1 W
June, 2015 8-13

ASDA-MS
11
P2-00 0x10000031P2-03 0010b
/()
21
8 P2-00 0x10000041 P2-03 0002h
30 S400
1 225000um 2 175032
1. P2-01 0x00010013
2. P2-02 225000
3. P2-00 0x00010032
4. P2-01 0x00010013
5. P2-02 175032
6. P2-00 0x01010032
40 S400
1. P2-00 0x00000032
2. P2-03 1 um
3. P2-00 0x01000032
4. P2-03 2 um
P2-04~P2-05
020CH
P2-06
020DH
- ALL
HEX 32-bit

P2-06 ~ P2-09

0x10
0x20
0x30 0 ~ 9
0x40
0x50 [0] -
-
0x60

0x70 -
0x80 - -
- -
0x90

0xA0 /
0xB0
0xC0 0 ~ 7
0xD0
0xE0 -
0xF0 -
8-14 June, 2015

ASDA-MS
020EH
P2-07
020FH
- ALL
-
HEX

0x00000000 ~ 0xFFFFFFFF
32-bit
8
P2-06
D C B A UZYX

- -
0 0x0013
- []
1 0x0013
[8]/
0210H
P2-08
0211H
- ALL
- -2147483648 ~ +2147483647
DEC 32-bit

P2-06
0212H
P2-09
0213H
- ALL
- -
DEC 32-bit

P2-06
DATA Index DATA

IN Select OUT
P2-08 P2-07 P2-09

Index
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Input Array Output Array
Macro P2-06
Marco
Select Lib.
June, 2015 8-15

ASDA-MS
/ P2-06
P2-08 /
D C B A UZYX
/ P2-09
-
3*
8
-
- R/W
0x1132
0x1142
0x2142
0x3142
whe
(XYZ )
X (XYZ )
Y (XYZ )
2* 0x4142 SxSySz
- 0x1242 ABC
- 0x0231
/
- W 0x0141 -

- 0x0241
- 0x0020
W -
0x0030
1* - 0x0040
W -
2* 0x0050
0x0F31
W -
0x0F41
0x0014

0x0114
(PUU)
0x0314
- R
0x0414 (0.001 )
0x0024 6

0x0124 3 (um)(XYZ)
0x0044 3 (0.001 )(ABC)

1. ()
2. 10 0 9
3. 0 R 1 W

C ()
P2-10~P2-11
8-16 June, 2015

ASDA-MS
P2-12 ~ P2-14 (CVT)
0218H
P2-12 (CVT)
8
0219H
- ALL
HEX 32-bit

0xDCBAUZYX

D C B A U Z YX
- - - - -

/
/

Y0
0x00 (CVT) 1 W/R
X
0x01 0 W/R
0x02 channel 0 ~ 3 W/R
0x03 um () - W/R
0x04 um () 0 W/R
0x06 1 ~ 9 W/R
0x07 0 1 W/R
0x08 0 1 W/R
0x0D x um W/R
0x0E y um W/R
0x12 z 0.001 W/R
0x13 x um W/R
0x14 y um W/R
0x18 z 0.001 W/R
0x19 x um W/R
0x1A y um W/R
0x1E z 0.001 W/R
0x1F um/ms R
0x20 Reset W
June, 2015 8-17

ASDA-MS
021AH
P2-13 (CVT)
021BH
- ALL
8 -
HEX

-2147483648 ~ +2147483647
32-bit

P2-12
021CH
P2-14 (CVT)
021DH
- ALL
- -2147483648 ~ +2147483647
DEC 32-bit

P2-12

10(0)
1. P2-12 0x00000000
2. P2-13 0x00000010(10 0)
2 channel channel 0
1. P2-12 0x00000001
2. P2-13 0x00000000
3. P2-12 0x00000002
4. P2-13 0x00000000
3()
1. P2-12 0x0000000D
2. P2-13 300000(x 300000um)
3. P2-12 0x0000000E
4. P2-13 300000(y 300000um)
5. P2-12 0x00000012
6. P2-13 30000(z 30 )
8-18 June, 2015

ASDA-MS

()

June, 2015 8-19

ASDA-MS
P3-xx
0300H
MODBUS
8
P3-00
0301H
01 ALL
- 0x01 ~ 0xF7
HEX 16-bit

YX (16 )
0 0 Y X
0~F 0~F
Modbus ADR
P3-00(P3-00) + 1 (P3-00) + 2 ADR ADR P3-00
ADR (P3-00) + 1 PLC
ADR (P3-00) + 2

MODBUS 0xFF
P3-00 0xFF P3-00 0xF7(247)(P3-00) + 1
ADR P3-00 0xF7(247) PLC

0301H
P3-01
0302H
3 ALL
Bps 0 ~ 5
HEX 16-bit

04800 19600 219200
338400 457600 5115200
0303H
P3-02
0304H
6 ALL
- 0 ~ 8
HEX 16-bit

07N2(MODBUSASCII) 17E1(MODBUSASCII) 27O1(MODBUSASCII)
38N2(MODBUSASCII) 48E1(MODBUSASCII) 58O1(MODBUSASCII)
68N2(MODBUSRTU) 78E1(MODBUSRTU) 88O1(MODBUSRUT)
8-20 June, 2015

ASDA-MS
P3-03 ~P3-04
030AH
P3-05
0
-

ALL
0 ~ 1
030BH
8
HEX 16-bit

0RS-232
1RS-485
030CH
P3-06 USB
030DH
0 ALL
- 0 ~ 1
HEX 16-bit

USB Serial EtherNet
USB
0USB-Serial
1USB-EtherNet

1. USB-Serial Baud Rate 921600 bps
2. USB-EtherNet IP 192.168.240.1 DHCP ServerPC 192.168.240.100.
3. USB-Serial C
P3-07
030CH
P3-08
030DH
0 ALL
- 0x0 ~ 0xF3
HEX 16-bit

LH (16 )
L H

0 0 0~F 0~3
June, 2015 8-21

ASDA-MS

H
0
8 1 L 8CH-32 16CH-16
2 2K 8CH-32 16CH-16
3 4K 4CH-32 8CH-16
L ms
2 L ms 8
CH (32 x 8) 16 CH (16 x 16)
H 1L
P3-09~P3-19
0328H
P3-20 EtherNet
0329H
- ALL
- -
HEX 32-bit
EtherNet ZYX (16 )
0 0 0 0 0 Z Y X
- - - DHCP state IP setup Cable state
- - - 0~2 0~1 0~1
Z
0 1 IP 2 IP
Y
0Static IP 1DHCP
X
0Cable plugged 1Cable unplugged
Y 1 Z 0
8-22 June, 2015

ASDA-MS
032AH
P3-21 EtherNet IP
032BH
- ALL
-
HEX

-
32-bit
8
EtherNet IP ( 16 ) IP 192.168.1.1 0xC0A80101
032CH
P3-22 EtherNet
032DH
- ALL
- -
HEX 32-bit

EtherNet ( 16 )
032EH
P3-23 EtherNet
032FH
- ALL
- -
HEX 32-bit

EtherNet ( 16 )
0330H
P3-24 EtherNet
0331H
0 ALL
- 0x00 ~ 0x11
HEX 32-bit

EtherNet YX (16 )
0 0 0 0 0 0 Y X
- - - - IP setup Trigger
- - - - 0~1 0~1
Y
0Static IP 1DHCP
X
0Default 1Start
X 0 1 EtherNet ( 0 1 )
June, 2015 8-23

ASDA-MS
0332H
P3-25 EtherNet IP
0333H
0xC0A80101 ALL
8 -
HEX

0x00000000 ~ 0xFFFFFFFF
32-bit
EtherNet IP 16 192.168.1.1 = 0xC0A80101
0334H
P3-26 EtherNet
0335H
0xFFFFFF00 ALL
HEX 32-bit

EtherNet 16 255.255.255.0 = 0xFFFFFF00
0336H
P3-27 EtherNet
0337H
0xC0A80101 ALL
HEX 32-bit

EtherNet 16 192.168.1.1 = 0xC0A80101
P3-28 ~ P3-29
033CH
P3-30 DMCNET
033DH
- ALL
HEX 32-bit

8-24 June, 2015

ASDA-MS
033EH
P3-31 DMCNET NO.1
033FH
- ALL
-
HEX

-
32-bit
8
Low Word High Word
High Word Low Word

1 A2
2ASD-DMC-RM32MN
3ASD-DMC-RM32NT
4ASD-DMC-RM32PT
5ASD-DMC-RM64MN
6ASD-DMC-RM64NT
0340H
P3-32 DMCNET NO.2
0341H
- ALL
- -
HEX 32-bit

P3-31
0342H
P3-33 DMCNET NO.3
0343H
- ALL
- -
HEX 32-bit

P3-31
0344H
P3-34 DMCNET NO.4
0345H
- ALL
- -
HEX 32-bit

P3-31
June, 2015 8-25

ASDA-MS
0346H
P3-35 DMCNET NO.5
0347H
- ALL
8 -
HEX

-
32-bit
P3-31
0348H
P3-36 DMCNET NO.6
0349H
- ALL
- -
HEX 32-bit

P3-31
034AH
P3-37 DMCNET NO.7
034BH
- ALL
- -
HEX 32-bit

P3-31
034CH
P3-38 DMCNET NO.8
034DH
- ALL
- -
HEX 32-bit

P3-31
034EH
P3-39 DMCNET NO.9
034FH
- ALL
- -
HEX 32-bit

P3-31
8-26 June, 2015

ASDA-MS
0350H
P3-40 DMCNET NO.10
0351H
- ALL
-
HEX

-
32-bit
8
P3-31
0352H
P3-41 DMCNET NO.11
0353H
- ALL
- -
HEX 32-bit

P3-31
0354H
P3-42 DMCNET NO.12
0355H
- ALL
- -
HEX 32-bit

P3-31
June, 2015 8-27

ASDA-MS
8.4

8

DMC Sz Tz
P0-00 - O O O
P0-01 - - O O O
P0-08 0 Hour O O O
P0-46 (DO) 0 - O O O

DMC Sz Tz
P1-06 () 0 ms O
P1-25 (1) 100 Hz O
P1-26 (1) 0 - O
P1-27 (2) 100 Hz O
P1-28 (2) 0 - O
P1-29 0 - O
P1-30 500 pulse O
P1-34 S 200 ms O
P1-35 S 200 ms O
P1-36 S 0 Ms. O O
P2-23 Notch filter(1) 1000 Hz O O O
P2-24 Notch filter (1) 0 dB O O O
P2-49 0 sec O O O

Servo On

8-28 June, 2015

ASDA-MS
8
DMC Sz Tz
P1-37 10 0.1 O O O
P2-00 35 Rad/s O
P2-01 100 % O
P2-02 50 % O
P2-03 5 ms O
P2-04 500 Rad/s O O O
P2-05 100 % O O O
P2-06 100 Rad/s O O O
P2-07 0 % O O O
P2-26 0 0.001 O O O

DMC Sz Tz
P1-01 0xB - O O O
P1-44 (N1) 128 pulse O O O
P1-45 (M1) 10 pulse O O O
P5-08 2147483647 PUU O
P5-09 -2147483648 PUU O

DMC Sz Tz
P2-10 DI1 0x101 - O O O
P2-11 DI2 104 - O O O
P2-18 DO1 0x101 - O O O
P3-06 (DI) 0 - O O O
P4-07 0 - O O O
June, 2015 8-29

ASDA-MS
8.5
8 P0-xx
P0-00
0000H
0001H
ALL
- -
DEC 16-bit

0002H
P0-01
0003H
- ALL
- 0x0000 ~ 0xFFFF
0
HEX 16-bit

001 020
002 021
003 (ServoOn RST ) 022
004 023
005 024 ()
006 025 (/)
007 026
008 027
009 028
010 029
011 030
012 031 UVW
013 034
014 044
015 060
016 IGBT 061
017 062
018 069
019 099 DSP
DMCNET

185 DMCNET Bus - -

201 DMCNET 301 DMCNET
283 302 DMCNET
285 303 DMCNET
289 304 DMCNET IP
8-30 June, 2015

ASDA-MS
0010H
P0-08
0011H
0 ALL

DEC

0 ~ 65535
16-bit
8

005CH
P0-46 (DO)
005DH
0 ALL
- -
HEX 16-bit

Bit00SRDY()
Bit01SON()
Bit02ZSPD()
Bit03TSPD()
Bit04TPOS()
Bit05TQL()
Bit06ALRM()
Bit07BRKR()
Bit08HOME()
Bit09OLW()
Bit10WARN(EMGS)
Bit11
Bit12
Bit13
Bit14
Bit15
June, 2015 8-31

ASDA-MS
P1-xx
0102H

8
P1-01
0103H
0xB ALL
- 0x1001 0x1004 0x1005
0x100B
HEX 16-bit

X

01 PR
04 Sz
05 Tz
0B DMCNET
0 1
ZDIO
0DIO(P2-10P2-18)()
1DIO(P2-10P2-18)
U
0132H
P1-25 (1)
0133H
1000 ALL
0.1 Hz 10 ~ 1000
DEC 16-bit

P1-26 0
8-32 June, 2015

ASDA-MS
0134H
P1-26 (1)
0135H
1000 ALL
-
DEC

0 ~ 9(0)
16-bit
8

1
0136H
P1-27 (2)
0137H
1000 ALL
- 10 ~ 1000
DEC 16-bit

P1-28 0
0138H
P1-28 (2)
0139H
1000 ALL
-
0 ~ 9 (0
)
DEC 16-bit

1
013AH
P1-29
013BH
0 ALL
- 0 ~ 1
DEC 16-bit

0
1

10
P1-25
June, 2015 8-33

ASDA-MS
013CH
P1-30
013DH
500 ALL
8 Pulse
DEC

1 ~ 8000
16-bit
(P1-29 = 1)

0140H
P1-32
0141H
0 ALL
Pulse 0 ~ 0x20
HEX 16-bit

X
YServo Off Alarm( EMGS)
0
1
2( P1-38)
PLNL P5-03 1 ms

Z
U
0144H
P1-34 S
0145H
200 Sz
ms 1 ~ 65500
DEC 16-bit

P1-34P1-35P1-36
P1-36 0
8-34 June, 2015

ASDA-MS
0146H
P1-35 S
0147H
0 ALL
ms
DEC

1 ~ 65500
16-bit
8
P1-34P1-35P1-36
P1-36 0
0148H
P1-36 S
0149H
0 ALL
ms 1 ~ 65500
DEC 16-bit

S
P1-34
P1-35
P1-36 S
P1-34P1-35P1-36 P1-36 0
014AH
P1-37
014BH
10 ALL
0.1 times 0 ~ 2000
DEC 16-bit

()( J_loadJ_motor )
J_motor
J_load
June, 2015 8-35

ASDA-MS
014CH
P1-38
014DH
10 ALL
8 0.1 r/min
DEC

0 ~ 2000
16-bit
(ZSPD)

0154H
P1-42
0155H
0 ALL
ms 0 ~ 1000
DEC 16-bit

ON (BRKR)
0156H
P1-43
0157H
0 ALL
ms -1000 ~ 1000
DEC 16-bit

OFF (BRKR)
ON
OFF OFF
SON
ON [1*]
[2*]
OFF
BRKR
(P1-42) (P1-43)
Motor Speed
(P1-38) [2*]
ZSPD [1*]
1. P1-43 P1-38 (BRKR)
2. P1-43 P1-38 (BRKR)

3. Alarm(E?022 ) EMGS Servo Off P1-43 P1-43
P1-43
8-36 June, 2015

ASDA-MS
0158H
P1-44 (N1)
0159H
128 ALL
Pulse
DEC

1 ~(229-1)
32-bit
8
P1-45
015AH
P1-45 (M1)
015BH
10 ALL
Pulse 1 ~(231-1)
DEC 32-bit

N N
f2 = f1 x M
f1 M f2
150NxM25600
Servo On
0160H
P1-48 (DOMC_OK)
0161H
0x0000 ALL
Pulse 0x0000 ~ 0x0011
HEX 16-bit

DOMC_OK(DO 0x17)
00YX
X01
Y0 E?380 1 E?380
June, 2015 8-37

ASDA-MS
1. PR
8 2. DO.CMD_OK
4. DO.TPOS
3.
DLY
5. DO.MC_OK
P1-48.X = 0
6. DO.MC_OK P1-48.X = 1 P1-48.Y=1

7
7. ON 8.

1. PR 3 2456
DI.CTRGEV1/EV2 P5-07
2. CMD_OK DLY
3.
4. TPOS P1-54
5. MC_OK 24 AND
6. MC_OK() 5 ON (7) 4 OFF
7. 56 P1-48.X
8. 7 4( 5) OFF E?380
P1-48.Y
016CH
P1-54
016DH
12800 ALL
Pulse 0 ~ 1280000
DEC 32-bit

( P1-54 )
(TPOS)
016EH
P1-55
016FH
ALL
r/min 0 ~ max. speed
DEC 16-bit

8-38 June, 2015

ASDA-MS
P2-xx
0200H

8
P2-00
0201H
35 ALL
rad/s 0 ~ 2047
DEC 16-bit

0202H
P2-01
0203H
100 ALL
% 10 ~ 500
DEC 16-bit

0204H
P2-02
0205H
50 ALL
% 0 ~ 100
DEC 16-bit

0206H
P2-03
0207H
5 ALL
ms 2 ~ 100
DEC 16-bit

June, 2015 8-39

ASDA-MS
0208H
P2-04
0209H
500 ALL
8 rad/s
DEC

0 ~ 8191
16-bit
020AH
P2-05
020BH
100 ALL
rad/s 10 ~ 500
DEC 16-bit

020CH
P2-06
020DH
100 ALL
rad/s 0 ~ 1023
DEC 16-bit

020EH
P2-07
020FH
0 ALL
% 0 ~ 100
DEC 16-bit

8-40 June, 2015

ASDA-MS
0210H
P2-08
0211H
0 ALL
-
DEC

0 ~ 65535
16-bit 8

10 ()
11 ()
3028
0212H
P2-10 DI1
0213H
101 ALL
- 0 ~ 0X 315Fh( DI )
HEX 16-bit

YX 8.1
Z a b
0 b
1 a
U DI
0 0 DI DI
1 1 DI [1]DI
2 2 DI [2]DI
3 3 DI [3]DI
4 4 DI [4]DI

P3-06 DI P4-07
1. DI
a. 0101(a )0001(b )
b. 0102(a )0002(b )
c. 0103(a )0003(b )
2. (P1-01) DIO
June, 2015 8-41

ASDA-MS
0216H
P2-11 DI2
0217H
104 ALL
8 -
HEX

0 ~ 0x315F ( DI )
16-bit
P2-10
0224H
P2-18 DO1
0225H
101 ALL
- 0 ~ 0x313F( DO )
HEX 16-bit

YX 8.2
Z a b
0 b
1 a
U DO
1 1 DO [1]DO
2 2 DO [2]DO
3 3 DO [3]DO
4 4 DO [4]DO

(P1-01) DIO
022EH
P2-23 Notch filter(1)
022FH
1000 ALL
Hz 50 ~ 1000
DEC 16-bit

P2-24 0
8-42 June, 2015

ASDA-MS
0230H
P2-24 Notch filter (1)
0231H
0 ALL
dB
DEC

0 ~ 32
16-bit 8
Notch filter 0 Notch filter
0232H
P2-25
0233H
2(1 kW ) 5() ALL
0.1 ms 0 ~ 1000
DEC 16-bit

0
0234H
P2-26
0235H
0 ALL
- 0 ~ 1023(0)
DEC 16-bit
P2-26 P2-06 P2-26

1.
2.
0246H
P2-35
0247H
3840000 ALL
Pulse 1 ~ 128000000
DEC 32-bit

June, 2015 8-43

ASDA-MS
0262H
P2-49
0263H
0 ALL
8 -
DEC

0x00 ~ 0x1F
16-bit
(Hz)
00 2500
01 2250
02 2100
03 2000
04 1800
05 1600
06 1500
07 1400
08 1300
09 1200
0A 1100
0B 1000
0C 950
0D 900
0E 850
0F 800
10 750
11 700
12 650
13 600
14 550
15 500
16 450
17 400
18 350
19 300
1A 250
1B 200
1C 175
1D 150
1E 125
1F 100
026AH
P2-53
026BH
0 ALL
rad/s 0 ~ 1023
DEC 16-bit

(overshoot)
8-44 June, 2015

ASDA-MS
028AH
P2-69 ()
028BH
0 ALL
-
HEX

0000h ~ 0111h
16-bit 8

0
1 ( E?069)

0E?060 E?06A
1E?060 E?06A

0
1

028EH
P2-71 ()
028FH
0 ALL
- 0000 ~ 0001h
HEX 16-bit

1 DI.ABSC
P2-08 P2-08 271
02BAH
P2-93 STO STO FDBK
02BCH
0 -
- 0x0010 ~ 0x0023
HEX 16-bit

BIT0 FDBK
BIT1 FDBK Latch
June, 2015 8-45

ASDA-MS
P3-xx
030CH
(DI)
8
P3-06
030DH
0 ALL
- 0x0000 ~ 0x3FFF
HEX 16-bit

DI 1 1 DI
Bit 0 ~ Bit 5 DI 1 ~ DI 6
0
1 P4-07
DI P2-10
P4-xx
040CH
P4-06 DO ()
040DH
0 ALL
- 0 ~ 0xFF
HEX 16-bit

7 6 5 4 3 2 1 0
0x37 0x36 0x35 0x34 0x33 0x32 0x31 0x30 DO code
F E D C B A 9 8
0x3F 0x3E 0x3D 0x3C 0x3B 0x3A 0x39 0x38 DO code
DO
P2-18=0x1130[1]DO#1 P4-06 bit 0
P2-18=0x2130[2]DO#1 P4-06 bit 0
P2-18=0x3130[3]DO#1 P4-06 bit 0
P2-18=0x4130[4]DO#1 P4-06 bit 0
DO DO Code(0x30 ~ 0x3F) P4-06
8-46 June, 2015

ASDA-MS
040EH
P4-07
040FH
0 ALL
-
HEX

0 ~ 0x3FFF
16-bit 8
DI (DI 1 ~ DI 6) SDI 1 ~ SDI 6( P4-07 Bit
0 ~ 5) P3-06 P3-06 1 SDI(P4-07)
DI
P3-06
DI 1~DI 6
DI
SDI 1~SDI 6
(P4-07)
DI
SDI
P4-07 0x0011 DI 1DI 5 ON
P4-07 0x0011 SDI 1SDI 5 ON
DI P2-10
P5-xx Motion
0510H
P5-08
0511H
2147483647 ALL
PUU -2147483648 ~ +2147483647
DEC 32-bit

E?283
0512H
P5-09
0513H
-2147483648 ALL
PUU -2147483648 ~ +2147483647
DEC 32-bit

E?285
June, 2015 8-47

ASDA-MS
P6-xx
0602H

8
P6-01
0603H
0 ALL
PUU -2147483648 ~ +2147483647
DEC 32-bit

8.1 (DI)
0x01
(DI)
SON (Servo On) ALL
0x02
(DI)
ARST ALL
0x21
(DI)
EMGS ALL
0x22
(DI)
NL (b ) ALL
0x23
(DI)
PL (b ) ALL
0x46
(DI)
STOP ALL
8-48 June, 2015

ASDA-MS
8.2 (DO)
0x01

SRDY
(DO)

ALL 8
0x02
(DO)
SON (Servo On) ALL
0x03
(DO)
( P1-38)
ZSPD ALL

0x05
(DO)
(
TPOS ALL
P1-54 )
0x07
(DO)

ALRM ALL
()
0x08
(DO)
( P1-42 P1-43
)
ON
OFF OFF
SON
ON [1*]
[2*]
BRKR OFF ALL
BRKR
(P1-42) (P1-43)
Motor Speed
(P1-38) [2*]
ZSPD [1*]
June, 2015 8-49

ASDA-MS
0x0B
(DO)

8 HOME
ON
OFF ON
ON( ALL
) OFF
PR OFF
ON
0x11
(DO)
WARN () ALL
0x13
(DO)
SNL () ALL
0x14
(DO)
SPL () ALL
0x15
(DO)
PR PR ONPR
OFF ON
Cmd_OK ALL

DO.TPOS
0x15
(DO)
DO.Cmd_OK TPOS ON ON
MC_OK ALL
OFF P1-48
8-50 June, 2015

ASDA-MS MODBUS MODBUS
DMCNET
ASCIIRTU TCP
0
9.1 9-2
9.2 MODBUS 9-3
9.3 9-17
June, 2015 9-1

ASDA-MS
9.1
P3-00 P3-01()P3-02()
9 P3-05() RS-232/RS-485
P3-24 (EtherNet )P3-25 (EtherNet IP )P3-26 (EtherNet
) P3-27 (EtherNet ) EtherNet
P3-06 (USB ) USB P3-08(
)

P3-00
P3-01
P3-02
P3-05
P3-06 USB
P3-24 EtherNet
P3-25 EtherNet IP
P3-26 EtherNet
P3-27 EtherNet
9-2 June, 2015

ASDA-MS
9.2 MODBUS
MODBUS networks ASCII (American Standard Code for information
interchange) RTU(Remote Terminal Unit) TCP(Transmission Control
Protocol) P3-02 RS-232/RS-485 (ASCII RTU
9
) EtherNet TCPUSB-Serial RTU ASCII
(Function) 03H 06H 10H

ASCII
ASCII ()
(ASCII) 64H ASCII 36H 6 ASCII
34H 4
0 9 A F ASCII
0 1 2 3 4 5 6 7
ASCII 30H 31H 32H 33H 34H 35H 36H 37H
8 9 A B C D E F
ASCII 38H 39H 41H 42H 43H 44H 45H 46H
RTU
8-bit 4-bit 64H
64H ASCII
TCP
RTU
June, 2015 9-3

ASDA-MS

(framing)
9 10 bits ( 7-bit )
7N2
Low
Start
bit
0 1 2 3 4 5 6
High
Stop
bit
High
Stop
bit
7-data bits
10-bit character frame
Low High
7E1 Start Even Stop
0 1 2 3 4 5 6
bit Parity bit
7-data bits
Low High
7O1 Start Odd Stop
0 1 2 3 4 5 6
bit Parity bit
7-data bits
11 bits ( 8-bit )
Low High
8N2 Start
0 1 2 3 4 5 6 7 Stop Stop
bit bit bit
8-data bits
Low High
8E1 Start
0 1 2 3 4 5 6 7 Even Stop
bit parity bit
8-data bits
Low High
8O1 Start
0 1 2 3 4 5 6 7 Odd Stop
bit parity bit
8-data bits
9-4 June, 2015

ASDA-MS

(Data Frame)
ASCII
Start
Slave Address
Function
(3AH)
1-byte 2 ASCII
1-byte 2 ASCII
9
Data (n-1)
. n-word = 2n-byte 4n ASCII n 10
Data (0)
LRC 1-byte 2 ASCII
End 1 1(0DH)(CR)
End 0 0(0AH)(LF)
ASCII (ASCII 3AH)ADR ASCII

CR (Carriage Return) LF (Line Feed)
LRC (Longitudinal Redundancy Check)
RTU
Start 10ms
Slave Address 1-byte
Function 1-byte
Data (n-1)
. n-word = 2n-byten 10
Data (0)
CRC 1-byte
End 1 10ms
RTU (Remote Terminal Unit)

CRC (Cyclical
Redundancy Check)
June, 2015 9-5

ASDA-MS
TCP
Start TCP
Transaction ID 2-byte
9 Protocol ID
Length
Unit ID
2-byte
2-byte
1-byte
Function 1-byte
Data (n-1)
. n-word = 2n-byten 10
Data (0)
End 1 TCP
TCP (Transmission Control Protocol) TCP

TCP

9-6 June, 2015

ASDA-MS
1 03H(word)
1 0200H 2 (word)
0200H 00B1H 0201H 1F40H
10 LRC CRC
ASCII
9

Start : Start :
0 0
Slave Address Slave Address
1 1
0 0
Function Function
3 3
0 0
2 ( byte ) 4'

0 0
0 0200H 0
0 B
0 1
(Word) 0 1
2 F
F 0201H 4
LRC Check
8 0
End 1 (0DH)(CR) E
LRC Check
End 0 (0AH)(LF) 8
End 1 (0DH)(CR)
End 0 (0AH)(LF)
June, 2015 9-7

ASDA-MS
RTU

Slave Address 01H Slave Address 01H
9 Function

03H
02H ()
00H ()
Function

( byte )
03H
04H
00H 0200H 00H ()

( word ) 02H B1H ()
CRC Check Low C5H () 0201H 1FH ()
CRC Check High B3H () 40H ()
CRC Check Low A3H ()
CRC Check High D4H ()
RTU 10 ms
TCP

00H () 00H ()
Transaction ID Transaction ID
01H () 01H ()
00H () 00H ()
Protocol ID Protocol ID
00H () 00H ()
00H () 00H ()
Length Length
06H () 07H ()
Unit ID 01H Unit ID 01H
Function 03H Function 03H
02H ()
04H
00H () byte
00H 0200H 00H ()
( word ) 02H B1H ()
0201H 1FH ()
40H ()
TCP Length
9-8 June, 2015

ASDA-MS
2 06H(word)
1 0064H 0200H
LRC CRC
ASCII

9
Start : Start :
0 0
1 1
0 0
Function Function
6 6
0 0
2 2'

0 0
0 0
0 0
0 0

6 6
4 4
9 9
LRC Check LRC Check
3 3
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)
June, 2015 9-9

ASDA-MS
RTU

Address 01H Address 01H
9 Slave Function

06H
02H ()
00H ()
Slave Function

06H
02H ()
00H ()
00H () 00H ()

64H () 64H ()
CRC Check Low 89H () CRC Check Low 89H ()
CRC Check High 99H () CRC Check High 99H ()
RTU 10 ms
TCP

00H () 00H ()
01H () 01H ()
00H () 00H ()
00H () 00H ()
00H () 00H ()
Length Length
06H () 06H ()
Slave Function 06H Slave Function 06H
02H () 02H ()

00H () 00H ()
00H () 00H ()

64H () 64H ()
TCP Length
9-10 June, 2015

ASDA-MS
3 10H(multiple words)
1 2 0BB8H 0000H
0112H 0112H 0BB8H 0113H 0000H
10 LRC CRC

9
ASCII

Start : Start :
0 0
1 1
1 1
Function Function
0 0
0 0
1 1'

1 1
2 2
0 0
0 0

(In Word) 0 0
2 2
0 D
LRC Check
(In Byte) 4 A
0 End 1 (0DH)(CR)
B End 0 (0AH)(LF)

B
8
0
0

0
0
1
LRC Check
3
End 1 (0DH)(CR)
End 0 (0AH)(LF)
June, 2015 9-11

ASDA-MS
RTU

Slave Address 01H Slave Address 01H
9 Function

10H
01H ()
12H ()
Function

10H
01H ()
12H ()
00H () 00H ()
(In Word) 02H () (In Word) 02H ()
CRC Check Low E0H ()
04H
(In Byte) CRC Check High 31H ()
0BH ()

B8H ()
00H ()

00H ()
CRC Check Low FCH ()
CRC Check High EBH ()
RTU 10 ms
TCP

00H () 00H ()
01H () 01H ()
00H () 00H ()
00H () 00H ()
00H () 00H ()
Length Length
0BH () 06H ()
Function 10H Function 10H
01H () 01H ()

12H () 12H ()
00H () 00H ()
(In Word) 02H () (In Word) 02H ()
04H
0BH ()

B8H ()
00H ()

00H ()
TCP Length
9-12 June, 2015

ASDA-MS
LRC CRC
ASCII LRC (Longitudinal Redundancy Check) RTU
CRC (Cyclical Redundancy Check)TCP
LRC CRC
LRC(ASCII )
9
Start :
7
Slave Address
F
0
Function
3
0
5

C
4
0
0

0
1
B
LRC Check
4
End 1 (0DH)(CR)
End 0 (0AH)(LF)
2 LRC
7FH + 03H + 05H + C4H + 00H + 01H = 14CH 1 4CH
4CH B4H
June, 2015 9-13

ASDA-MS
CRC(RTU )
CRC
1. FFFFH 16-bit CRC
9 2. 16-bit CRC Exclusive OR

CRC
3. CRC (LSB) 0 1
CRC A001H Exclusive OR
8
4. 2 3 CRC
CRC
CRC CRC CRC

CRC 3794H 94H 37H

ARD 01H
CMD 03H
01H ()

01H ()
00H ()
( word )
02H ()
CRC Check Low 94H ()
CRC Check High 37H ()
9-14 June, 2015

ASDA-MS
CRC
C CRC
unsignedchar*data;
unsignedcharlength
unsignedinteger CRC
unsignedintcrc_chk(unsignedchar*data,unsignedcharlength){
9
intj;
unsignedintreg_crc=0xFFFF;

while(length){
reg_crc^=*data++;
for(j=0;j<8;j++){
if(reg_crc&0x01){/*LSB(bit0)=1*/
reg_crc=(reg_crc>>1)^0xA001;
}else{
reg_crc=(reg_crc>>1);
}
}
}
returnreg_crc;
}
#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#definePORT0x03F8/*theaddressofCOM1*/
#defineTHR0x0000
#defineRDR0x0000
#defineBRDL0x0000
#defineIER0x0001
#defineBRDH0x0001
#defineLCR0x0003
#defineMCR0x0004
#defineLSR0x0005
#defineMSR0x0006
unsignedcharrdat[60];
/*read2datafromaddress0200HofASDwithaddress1*/
unsignedchar
tdat[60]={:,0,1,0,3,0,2,0,0,0,0,0,2,F,8
,\r,\n};
voidmain(){
intI;
outportb(PORT+MCR,0x08); /*interruptenable*/
outportb(PORT+IER,0x01); /*interruptasdatain*/
outportb(PORT+LCR,(inportb(PORT+LCR)|0x80));
/*theBRDL/BRDHcanbeaccessasLCR.b7==1*/
June, 2015 9-15

ASDA-MS
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06); /*setprorocol
<7,E,1>=1AH, <7,O,1>=0AH
for(I=0;I<=16;I++){
<8,N,2>=07H
<8,O,1>=0BH
<8,E,1>=1BH
*/
while(!(inportb(PORT+LSR)&0x20)); /*waituntilTHRempty*/
outportb(PORT+THR,tdat[I]); /*senddatatoTHR*/
}
I=0;
while(!kbhit()){
if(inportb(PORT+LSR)&0x01){/*b0==1,readdataready*/
rdat[I++]=inportb(PORT+RDR);/*readdatafromRDR*/
}
}
}
9-16 June, 2015

ASDA-MS
9.3
MS

0123
9

MS
0(P0-00)(P0-02 ~ P0-03) (P0-07~P0-08)
1(P1-02 ~ P1-05)
2(P2-03 ~ P2-05)(P2-09 ~ P2-11) (P2-14)
3(P3-03 ~ P3-04)(P3-07)(P3-09 ~ P3-23)(P3-28 ~ P3-29) (P3-31 ~
P3-42)

(P3-01)

(P3-02)

(P3-06)USB

MS
0 (P0-00 ~ P0-08)
1 (P1-00 ~ P1-10)
2 (P2-00 ~ P2-14)
3 (P3-00 ~ P3-42)
June, 2015 9-17

ASDA-MS
()
9-18 June, 2015

10.1 ........................................................................................ 10-3

10.1.1 10-3
10.1.2 10-5
10.1.3 10-6
10.1.4 10-8
10.2 ................................................................................................................. 10-9
10.2.1 10-9
10.2.2 10-10
10.2.3 10-11
10.3 .................................................................... 10-12
10.4 MS ................................................... 10-12
10.5 .................................................................................. 10-13
10.5.1 10-13
10.5.2 PUU 10-13
10.5.3 10-14
June, 2015 10-1

ASDA-MS

ASDA-MS

10

MS E?069
250 rpm
200 rpm

ECMA - A
A
MS

10-2 June, 2015

ASDA-MS
10.1

10.1.1

10

100C
Li/SOCl2 Cylindrical Battery

(/)
ER14505
ASD-CLBT0100
AA
3.6 V
2700 mAh
100 mA
200 mA
D x H 14.5 x 50.5 mm
19 g
-40+85
June, 2015 10-3

ASDA-MS
10
10.1.1.1
( EVE Energy Co. ER14505 Discharge Characteristics)
1. 10.1.1.1
65 uA 3 V 21900
2.5 3.1 V
2. 5 3.6 V
MS
10-4 June, 2015

ASDA-MS
10.1.2
ASD-MDBT0100
10

ASDPBSC2626
June, 2015 10-5

ASDA-MS
10.1.3
A.
10 ASD-A2EB0003ASD-A2EB0005
1 2 3 3 2 1

T+ T+
4 5 6 6 5 4
/ / / /

T- T-
7 8 9 9 8 7
/ /
Shield Shield GND
DC+5V GND DC+5V
MS
10-6 June, 2015

ASDA-MS
B.
ASD-A2EB1003ASD-A2EB1005
10

Pin No.
A T+
B T-
S DC+5V /
R GND /
L BRAID SHIELD
June, 2015 10-7

ASDA-MS
10.1.4
AW
10 3864573700
IW
3864811900
15 5 15 5
200 10
10-8 June, 2015

ASDA-MS
10.2

10.2.1
()
10
(1) (2) 3.1.5

(3)

Pin No
1 BAT+
2 BAT-
(4) :
Pin No
1 BAT+
1 2
2 BAT-
(5) MOTOR.ENC
MS

June, 2015 10-9

ASDA-MS
10.2.2

10
(1)
(2)
(A) (B)
(3)
(4)
(5)
10-10 June, 2015

ASDA-MS
10.2.3
1. MS E?061
()2. P0-02( 26h)
31( 3.1 V)
10
2.7 V

MS
(1)
(2)
(3)
(A) MS
(4)
June, 2015 10-11

ASDA-MS
10.3

10 P2-69
P2-71

10.4 MS

E?028
E?029
E?034
E?060
E?061
E?062
E?069
E?289

038 (26h)
10-12 June, 2015

ASDA-MS
10.5

10.5.1
MS E?060
10

E?060
-32768 32767 E?062
PUU -2147483648 2147483647 E?289
10.5.2 PUU
PUU 32
P1-01.Z

-32768~ +32767 MS
E?062 PUU -2147483648 2147483647
E?289 (E?062 E?289)

1 P1-44 = 128P1-45 = 10 100000 PUU
214748364710000021474.8 21474.8 (< 32767)
E?289
2 P1-44 = 128P1-45 = 1 10000 PUU

214748364710000214748.3 32767(< 214748.3)
E?062
PUU

...... 2147483647 -2147483648 ~ 2147483647 -2147483648 ......
2147483647
0 ...... ......
-2147483648

E?289 E?289
10.5.2.1 PUU
June, 2015 10-13

ASDA-MS
10.5.3
P2-71 1 P2-71 1
10 P2-71 P2-08 P2-08 271

P2-71 P2-08 = 271 P2-71 = 1
DMCNET DMCENET

1. P1-01.Z (P1-44P1-45)

2. E?060
10-14 June, 2015

1
11.1 11-3
11-3
11-4
11.2 11-6
11-6
11-11
June, 2015 11-1

ASDA-MS
11
PLC
(1) (2) (3)
(1) E
(2)
(Controller) C
(User) U
(Group) 1. ~ 2.
*?
(Axis) 1 6 1~6
7 12
13 18 D~I
*?
E1.803 1
E1803 1
ED803 13
EI803 18
(3)
11-2 June, 2015

ASDA-MS
11.1

ALM WARN

ON OFF
11
E?801
E?803
E?80A
E?80B
E?80C
E?813
E?814
E?815
E?821
E?822 P2P
E?823 LINE
E?824
E?825
E?827
E?829
E?82A
E?82B
E?832
E?833
E?841
E?842
E?843
E?851
E?852
E?853

1.
2. ?1. ~ 2.
June, 2015 11-3

ASDA-MS
11
E?001
E?002

ALM WARN

ON OFF

E?003
E?004
E?005
E?006
E?007
E?009
E?011
E?012
E?013
E?014
E?015
E?016 IGBT
E?017
E?018
E?019
E?020
E?022
E?023
E?024
E?025
E?026
E?027
E?028
E?029
E?030
E?031
E?034
E?035
E?044
E?060
E?061
E?062
E?067
E?069
11-4 June, 2015

ASDA-MS

ALM WARN ON OFF
E?06A
E?070
E?099
E?111

EEPROM
DMCNET

11
E?185 DMCNET Bus
E?201 DMCNET
E?235
E?245
E?283
E?285
E?289
E?301 DMCNET
E?302 DMCNET
E?303 DMCNET
E?304 DMCNET IP
E?500 STO
E?501 STO_A lost ()
E?502 STO_B lost ()
E?503 STO_error
E?555

1. ?1 ~ 6D ~ I
June, 2015 11-5

ASDA-MS
11.2
11
E?801

E?803

P2P P2P Line

E?80A

2 3
PLC/Lua (ButterMode = Buffered)
2

E?80B

,

((6.4) )

E?80C

(/)

/

11-6 June, 2015

ASDA-MS
E?813
1.
2.

1. (DRAS)

11
2. (DRAS)- 33d

E?814
1.
2.
(DRAS)

E?815

P5-08 P5-09

P5-08 P5-09

E?821

1.

2. , ,

E?822 P2P
P2P
P5-08 P5-09
P5-08
P5-09

June, 2015 11-7

ASDA-MS
E?823 LINE
LINE
11
P5-08 P5-09
P5-08
P5-09

E?824

P5-08 P5-09
P5-08
P5-09

E?825

1.
P5-08 P5-09
P5-08 P5-09
2.
3. ()
E?827

1 ~ 2 (1

2)

E?829

0 ~ 9

11-8 June, 2015

ASDA-MS
E?82A

1. 0 ~ 9

2. , (7.3)
11

E?82B

1. 0 ~ 9

2. , (7.4)

E?832
3
, P0-00

E?833
3
, P0-00

E?841

P5-08 P5-09
P5-08
P5-09

June, 2015 11-9

ASDA-MS
E?842

11

3 0

E?843

(6.4) PLC / Lua -MovCirc

E?851
1.
2.
1. robot

2.

E?852

E?853

( 0 9)

11-10 June, 2015

ASDA-MS
E?001
1. MS
2.
11
3. IGBT
4.
5.
1. MS

2. MS
3. 0x10 IGBT 117

4. MS

H1-00 H1-01
750 W (H1-00 = 1d, H1-01 = 4d)
1500 W (H1-00 = 1d, H1-01 = 6d)

5. 10 ms

E?002
1.
2. MS
1.

2.
MS

June, 2015 11-11

ASDA-MS
E?003
1.
11 2.
3.
1.
2.

3.

E?004
1.
2.
1.

2.

E?005
1.
2. (P1-53)
3.
1.
P1-52() P1-53()
MS
2. P1-53()

3. P1-52() P1-53()

11-12 June, 2015

ASDA-MS
E?006
1.
2.
3.
4.
11
1. (11d)[%] 100%
A-
2.1

2.2
3. UVW
4.

E?007
P2-34()
P2-34() P2-34(

)

E?009
1. P2-35()
2.
3.
4.
5.
1. P2-35()

2. ,

3.
4.
5. 1/50 < P1-44 / P1-45 < 25600 P1-44
P1-45

June, 2015 11-13

ASDA-MS
E?011
1.
11 2.
3.
1.

2. MS
MS
3.

E?012

MS

E?013

E?014
1.

2.
1.
2.

H1-00 H1-01
750W(H1-00=1dH1-01=4d)1500W(H1-00=1dH1-01=6d)

11-14 June, 2015

ASDA-MS
E?015
1.

2.
1.
2.
11
H1-00 H1-01
750W(H1-00=1dH1-01=4d)1500W(H1-00=1dH1-01=6d)

E?016 IGBT
1. MS

2. MS
1.

2. MS

E?017
1.

2. ROM ROM ROM

0x1D XGAB (X1~4G
AB 16 )
320Ah P2-10
3610h P6-16

100Xh
H1-00 H1-01
750W(H1-00 = 1dH1-01 = 4d)1500W(H1-00 = 1dH1-01 = 6d)

June, 2015 11-15

ASDA-MS
E?018
1.

11 2.
(P4-00 ~ P4-05)

(E?011E?024E?025E?026
P1-76 P1-46
P1-76 >

P1 46 4 19.8 10 6
60
E?019
1.
2.
3.
1. P3-03 P3-04

2.
3.

E?020
1.

2.
1.

2.

E?022

RST 1.5 kW() MS
2 kW() MS

MS

11-16 June, 2015

ASDA-MS
E?023

1. E?006
2. P1-56
P1-56 () P1-56
11
100

E?024

( UVW )
1. UVW () MS

2.

3.

E?025
1. ()

2.
1. UVW () MS

2.

3.
4.

E?026
()
1. UVW () MS

2.

3.

June, 2015 11-17

ASDA-MS
E?027

11

1.
2. 24V

E?028
1.

2.
1.1 MS ( > 3.8 V)
3.8 V
2.1
2.2 UVW () MS

2.3

2.4

E?029

E?030
1. (P1-57) 0
2. P1-57 P1-58
P1-57

E?031

(UVWGND)

11-18 June, 2015

ASDA-MS
E?034

1.
2.

11
E?044 MS
MS
P2-66 Bit 4 1

E?060
1.
2. MS Off
3.
4.
5.
1. 2.8 V
2. MS Off
3.
P2-08 = 271dP2-71 = 1d
(DRAS)
()
4.1
4.2
4.3 MS
5.

E?061

1. 3.1 V ()
2. 3.1 V ()
MS ON

June, 2015 11-19

ASDA-MS
E?062

11

-32768 +32767

E?067
(85 ~ 100)
P0-02 120d
30

E?069

1.

2. P2-69

E?06A
1.

2.
1.
P2-08 = 271dP2-71 = 1d

(DRAS)
2.

E?070
Barcode

11-20 June, 2015

ASDA-MS
E?099 EEPROM
EEPROM

EEPROM
1. P2-08 30 28
2. P2-08 999EEPRROM
11
MS

E?111 DMCNET
1 ms
1 ms /

E?185 DMCNET Bus

DMCNET Bus
1.
2. ()

3.

E?201 DMCNET
DMCNET
1.
DMCNET

2. ROM P2-08
30 28

June, 2015 11-21

ASDA-MS
E?235

11 (FB_PUU)

1. (FB_PUU)
2. P1.01.Z
3. (P1-44P1-45)
4.
5. E?060 E?062

E?245

E?283

P5-08

2147483647

E?285

P5-09

-2147483648

P5-03

E?289

11-22 June, 2015

ASDA-MS
E?301 DMCNET

1.
2. SYNC
3. P3-09
11

E?302 DMCNET

1. P3-09

2. SYNC

E?303 DMCNET

1.
2. SYNC
3. P3-09

E?304 DMCNET IP
IP

E?500 STO
STO
STO

E?501 STO_A lost ()

STO_A STO_A STO_B
STO_A

June, 2015 11-23

ASDA-MS
E?502 STO_B lost ()

STO_B STO_A STO_B
11

STO_B

E?503 STO_error
STO
STO_A STO_B

E?555

11-24 June, 2015

ASDA-MS A-2
ASDA-MS A-4
(ECMA ) A-5
(T-N ) A-11
A-13
A-15
June, 2015 A1
A ASDA-MS
ASDA-MS
750 W () 1.5 kW ()
A MS

07
220 VAC
15
220 VAC
/200 ~ 230 VAC 200 ~ 230 VAC

-15% ~ 10% -15% ~ 10%
24 VDC-10% ~ 10%
(3 PH)
12.4 24.8
Arms
(1 PH)
23.8 44.5
Arms

5.1 () 8.3 ()
Arms
(W) x (H) x (D) mm / 175 mm x 300 mm x 159 mm / 5.6

20-bit (1280000 p/rev)
SVPWM

IEC61131-3 PLC 5 (LDFBDSFCILST)

20 MB

16 KB PLC SV/DV ()
60 KB PLC DH ()
1 K ()
32 K
I/O2412
I/O
/ I/O88
4
Ethernet 1
RS-232 / RS-485 1 (1 )

DMCNET 1
USB Host 1
A-2 June, 2015

ASDA-MS A
750 W () 1.5 kW ()
07 15
()(

)
1000 M
86 kPa ~ 106 kPa
A
0 ~ 55

( 45)
-20 ~ 65

0 ~ 90% RH ()
2 2
20 Hz 9.80665 m/s (1G)20 ~ 50 Hz 5.88 m/ s (0.6G)
IP IP20
TN *1
IEC/EN 61800-5-1, UL 508C, C-tick

*1 TN
2 1.5 kW
June, 2015 A-3

A ASDA-MS
ASDA-MS
4.5

1.
2.
A-4 June, 2015

ASDA-MS A
(ECMA )

ECMA
C104
0F
C04
01 02
C06
04S 04
C08
07 07
C09
10
C10
10
A
(kW) 0.05 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0
(N-m)*1 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18
(N-m) 0.477 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54
(r/min) 3000 3000 3000
(r/min) 5000 3000 5000
(A) 0.69 0.90 1.55 2.60 2.60 5.10 3.66 4.25 7.30
(A) 2.05 2.70 4.65 7.80 7.80 15.30 11.00 12.37 21.90
(kW/s) 12.27 27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1
2
( 10-4kg.m ) 0.0206 0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65
(ms) 1.14 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74
-KT (N-m/A) 0.23 0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44
-KE (mV/(r/min)) 9.8 13.6 16.0 17.4 18.5 17.2 24.2 27.5 16.8
Ohm) 12.70 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20
(mH) 26.0 24.0 12.07 6.71 7.39 3.53 7.55 5.70 1.81
(ms) 2.05 2.58 4.30 4.30 7.96 8.36 5.66 6.23 9.30
A (UL)B (CE)
100 MDC 500 V
1.8k Vac,1 sec
(kg) 0.42 0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3
(kg) -- 0.8 1.5 2.0 2.9 3.8 3.69 5.5 437
(N) 78.4 78.4 196 196 245 245 245 245 490
(N) 39.2 39.2 68 68 98 98 98 98 98
(kW/s) -- 25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4

2
( 10-4kg.m ) -- 0.04 0.19 0.30 0.73 1.18 1.95 2.67 3.33
(ms) -- 0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93
[Nt-m (min)] *2 -- 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8.0
(at 20C)[W] -- 7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7
[ms (Max)] -- 5 10 10 10 10 10 10 10
[ms (Max)] -- 25 70 70 70 70 70 70 70
(m) 15
June, 2015 A-5

A ASDA-MS
(C) 0 ~ 40
(C) -10 ~ 80
A
20 ~ 90%RH()
20 ~ 90%RH()
2.5 G
IP IP65(,())

*1 0~40C
ECMA-_ _ 04 / 06 / 08250 mm x 250 mm x 6 mm
ECMA-_ _ 10300 mm x 300 mm x 12 mm
ECMA-_ _ 13400 mm x 400 mm x 20 mm
(Aluminum) F40, F60, F80, F100, F130
*2
3
4
A-6 June, 2015

ASDA-MS A
/
C06 C08
ECMA
(kW)
(N-m)*1
04H
0.40
1.27
07H
0.75
2.39
A
(N-m) 3.82 7.16
(r/min) 3000
(r/min) 5000
(A) 2.6 5.1
(A) 7.8 15.3
(kW/s) 21.70 19.63

2
( 10-4kg.m ) 0.743 2.910
(ms) 1.42 1.60
-KT (N-m/A) 0.49 0.47
-KE (mV/(r/min)) 17.4 17.2
(Ohm) 1.55 0.42
(mH) 6.71 3.53
(ms) 4.30 8.36
A (UL)B (CE)
100 M 500VDC
1.8k Vac,1 sec
(kg) 1.8 3.4
(kg) 2.2 3.9
(N) 196 245
(N) 68 98
(kW/s) 21.48 19.30

2
( 10-4kg.m ) 0.751 2.960
(ms) 1.43 1.62
[Nt-m (min)] *2 1.3 1.3
(at 20C)[W] 6.5 8.2
[ms (Max)] 10 10
[ms (Max)] 70 70
(m) 15
(C) 0 ~ 40
(C) -10 ~ 80
June, 2015 A-7

A ASDA-MS
C06 C08
ECMA
04H 07H
A
20 ~ 90%RH ()
20 ~ 90%RH ()
2.5G
IP65(,(
IP
))

*1 0 ~ 40C
ECMA-_ _ 04 / 06 / 08250 mm x 250 mm x 6 mm
ECMA-_ _ 10300 mm x 300 mm x 12 mm
ECMA-_ _ 13400 mm x 400 mm x 20 mm
(Aluminum) F40, F60, F80, F100, F130
*2
3
4
A-8 June, 2015

ASDA-MS A

E13 F13 G13
ECMA
(kW)
(N-m)*1
05
0.5
2.39
10
1.0
4.77
15
1.5
7.16
08
0.85
5.41
03
0.3
2.86
06
0.6
5.73
09
0.9
8.59
A
(N-m) 7.16 14.3 21.48 13.8 8.59 17.19 21.48
(r/min) 2000 1500 1000
(r/min) 3000 3000 2000
(A) 2.9 5.6 8.3 7.1 2.5 4.8 7.5
(A) 8.7 16.8 24.9 19.4 7.5 14.4 22.5
(kW/s) 7.0 27.1 45.9 21.52 10.0 39.0 66.0

2
( 10-4kg.m ) 8.17 8.41 11.18 13.6 8.17 8.41 11.18
(ms) 1.91 1.51 1.10 2.43 1.84 1.40 1.06
-KT (N-m/A) 0.83 0.85 0.87 0.76 1.15 1.19 1.15
-KE (mV/(r/min)) 30.9 31.9 31.8 29.2 42.5 43.8 41.6
(Ohm) 0.57 0.47 0.26 0.38 1.06 0.82 0.43
(mH) 7.39 5.99 4.01 4.77 14.29 11.12 6.97
(ms) 12.96 12.88 15.31 12.55 13.55 13.55 16.06
A (UL)B (CE)
100 M 500 VDC
AC 1500 V60 sec
(kg) 6.8 7.0 7.5 8.6 6.8 7.0 7.5
(kg) 8.2 8.4 8.9 10.0 8.2 8.4 8.9
(N) 490 490 490 490 490 490 490
(N) 98 98 98 98 98 98 98
(kW/s) 6.4 24.9 43.1 19.78 9.2 35.9 62.1

2
( 10-4kg.m ) 8.94 9.14 11.90 14.8 8.94 9.14 11.9
(ms) 2.07 1.64 1.19 2.65 2.0 1.51 1.13
[Nt-m (min)] *2 10.0 10.0 10.0 10.0 10.0 10.0 10.0
(at 20C)[W] 19.0 19.0 19.0 19.0 19.0 19.0 19.0
[ms (Max)] 10 10 10 10 10 10 10
[ms (Max)] 70 70 70 70 70 70 70
(m) 15
(C) 0 ~ 40
(C) -10 ~ 80
June, 2015 A-9

A ASDA-MS
E13 F13 G13

ECMA
05 10 15 08 03 06 09
A
20 ~ 90%RH ()
20 ~ 90%RH ()
2.5G
IP IP65(, ())

*1 0 ~ 40C
ECMA-_ _ 04 / 06 / 08250 mm x 250 mm x 6 mm
ECMA-_ _ 10300 mm x 300 mm x 12 mm
ECMA-_ _ 13400 mm x 400 mm x 20 mm
(Aluminum) F40, F60, F80, F100, F130
*2
3
4
A-10 June, 2015

ASDA-MS A
(T-N )
A
(N-m)
3.82
(300%)
1.27
(100%)
0.763
(60%)
(r/min)
3000 5000
ECMA-C0604S, ECMA-C0604H
ECMA-C08047
June, 2015 A-11

A ASDA-MS
A-12 June, 2015

ASDA-MS A

A
1.
2.
3.
4.
5.
(ECMA C )

120% 236.8
140% 35.2
160% 17.6
180% 11.2
200% 8
220% 6.1
240% 4.8
260% 3.9
280% 3.3
300% 2.8
June, 2015 A-13

A ASDA-MS
(ECMA E )
A 120%
140%
160%
527.6
70.4
35.2
180% 22.4
200% 16
220% 12.2
240% 9.6
260% 7.8
280% 6.6
300% 5.6
(ECMA G )

120% 527.6
140% 70.4
160% 35.2
180% 22.4
200% 16
220% 12.2
240% 9.6
260% 7.8
280% 6.6
300% 5.6
A-14 June, 2015

ASDA-MS A

86 ()
A
Model C1040FS C0401S C0602S C0604S C0604H
LC 40 40 60 60 60
LZ 4.5 4.5 5.5 5.5 5.5
LA 46 46 70 70 70
S 8( 00.009 ) 8( 00.009 ) 14( 00.011) 14( 00.011) 14( 00.011)
LB 30( 00.021 ) 30( 00.021 ) 50 ( 00.025 ) 50 ( 00.025 ) 50 ( 00.025 )
LL () 79.1 100.6 105.5 130.7 145.8
LL () -- 136.6 141.6 166.8 176.37

LS 20 20 27 27 27
LR 25 25 30 30 30
LE 2.5 2.5 3 3 3
LG 5 5 7.5 7.5 7.5
LW 16 16 20 20 20
RH 6.2 6.2 11 11 11
WK 3 3 5 5 5
W 3 3 5 5 5
T 3 3 5 5 5
M3 M4 M4 M4
TP --
Depth 8 Depth 15 Depth 15 Depth 15

1. mm
2.
3.
4.
June, 2015 A-15

A ASDA-MS
86 ()
Model C08047 C0807S C0807H C0907S C0910S
LC 80 80 80 86 86
LZ 6.6 6.6 6.6 6.6 6.6
LA 90 90 90 100 100
S 14( 00.011 ) 19( 00.013 ) 19( 00.013 ) 16( 00.011 ) 16( 00.011)
LB 70 ( 00.030 ) 70 ( 00.030 ) 70 ( 00.030 ) 80 ( 00.030 ) 80 ( 00.030 )
LL () 112.3 138.3 151.1 130.2 153.2
LL () 152.8 178.0 189.0 161.3 184.3

LS 27 32 32 30 30
LR 30 35 35 35 35
LE 3 3 3 3 3
LG 8 8 8 8 8
LW 20 25 25 20 20
RH 11 15.5 15.5 13 13
WK 5 6 6 5 5
W 5 6 6 5 5
T 5 6 6 5 5
M4 M6 M6 M5 M5
TP
Depth 15 Depth 20 Depth 20 Depth 15 Depth 15

1. mm
2.
3.
4.
A-16 June, 2015

ASDA-MS A
100 ~ 130
Model E1010S E1305S E1310S E1315S F1308S
LC 100 130 130 130 130

LZ 9 9 9 9 9
LA 115 145 145 145 145
S 22(00.013) 22(00.013) 22(00.013) 22(00.013) 22(00.013)
LB 95(00.035) 110(00.035) 110(00.035) 110(00.035) 110(00.035)
LL () 153.3 147.5 147.5 167.5 152.5
LL () 192.5 183.5 183.5 202.0 181.0

LS 37 47 47 47 47
LR 45 55 55 55 55
LE 5 6 6 6 6
LG 12 11.5 11.5 11.5 11.5
LW 32 36 36 36 36
RH 18 18 18 18 18
WK 8 8 8 8 8
W 8 8 8 8 8
T -- 7 7 7 7
M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20

1. mm
2.
3.
4.
June, 2015 A-17

A ASDA-MS
100 ~ 130
Model G1303S G1306S G1309S
LC 130 130 130

LZ 9 9 9
LA 145 145 145
S 22(00.013) 22(00.013) 22(00.013)
LB 110(00.035) 110(00.035) 110(00.035)
LL () 147.5 147.5 163.5
LL () 183.5 183.5 198.0

LS 47 47 47
LR 55 55 55
LE 6 6 6
LG 11.5 11.5 11.5
LW 36 36 36
RH 18 18 18
WK 8 8 8
W 8 8 8
T 7 7 7
M6 M6 M6
TP
Depth 20 Depth 20 Depth 20

1. mm
2.
3.
4.
A-18 June, 2015

B-2
B-3
B-5
B-6
B-7
B-8
B-9
AW B-9
IW B-9
RS-232 B-10
RS-485 B-10
B-11
June, 2015 B-1

B ASDA-MS

ASDBCAPW0000
B
ASDBCAPW0100
ASD-CAPW1000
B-2 June, 2015

ASDA-MS B

ASD-ABPW0003, ASD-ABPW0005
B
L
Title Part No.
mm inch
1 ASD-ABPW0003 3000 100 118 4
2 ASD-ABPW0005 5000 100 197 4
ASD-ABPW0103, ASD-ABPW0105
L
Title Part No.
mm inch
1 ASD-ABPW0103 3000 100 118 4
2 ASD-ABPW0105 5000 100 197 4
June, 2015 B-3

B ASDA-MS
ASD-CAPW1003, ASD-CAPW1005
B
L
Title Part No.
mm inch
1 ASD-CAPW1003 3000 100 118 4
2 ASD-CAPW1005 5000 100 197 4
ASD-CAPW1103, ASD-CAPW1105
L
Title Part No.
mm inch
1 ASD-CAPW1103 3000 100 118 4
2 ASD-CAPW1105 5000 100 197 4
B-4 June, 2015

ASDA-MS B
ASD-ABEN0000
ASD-CAEN1000
June, 2015 B-5

B ASDA-MS

ASD-ABEN0003, ASD-ABEN0005
B
L
Title Part No.
mm inch
1 ASD-ABEN0003 3000 100 118 4
2 ASD-ABEN0005 5000 100 197 4
ASD-CAEN1003, ASD-CAEN1005
L
Title Part No.
mm inch
1 ASD-CAEN1003 3000 100 118 4
2 ASD-CAEN1005 5000 100 197 4
B-6 June, 2015

ASDA-MS B

ASD-PBSC2626
June, 2015 B-7

B ASDA-MS

ASD-B2EB0003ASD-B2EB0005
B
L
Title Part No.
mm inch
1 ASD-B2EB0003 3000 100 118 4
2 ASD-B2EB0005 5000 100 197 4
ASD-B2EB1003ASD-B2EB1005
L
Title Part No.
mm inch
1 ASD-B2EB1003 3000 100 118 4
2 ASD-B2EB1005 5000 100 197 4
B-8 June, 2015

ASDA-MS B

ASD-MDBT0100
B
AW
3864573700
IW
3864811900
15 5 15 5
200 10
June, 2015 B-9

B ASDA-MS
RS-232
ASD-CARS0003
B
L
Title Part No.
mm inch
1 ASD-CARS0003 3000 100 118 4
RS-485
ASD-CNIE0B06
B-10 June, 2015

ASDA-MS B
750 W MS 50 W
MS ASD-MS-0721-F B
ECMA-C1040FS
() ASD-ABPW000X
() ASDBCAPW0000
() ASD-ABPW010X
() ASDBCAPW0100
ASD-ABEN000X
ASD-A2EB000X
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)
750 W MS 100 W
MS ASD-MS-0721-F
ECMA-C0401S
() ASD-ABPW000X
() ASDBCAPW0000
() ASD-ABPW010X
() ASDBCAPW0100
ASD-ABEN000X
ASD-A2EB000X
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)

1. ASDA-MS
2.
3.
June, 2015 B-11

B ASDA-MS
750 W MS 200 W
MS ASD-MS-0721-F
()
ECMA-C0602S
ASD-ABPW000X
() ASDBCAPW0000
() ASD-ABPW010X
() ASDBCAPW0100
ASD-ABEN000X
ASD-A2EB000X
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)
750 W MS 400 W
MS ASD-MS-0721-F
ECMA-C0604S
ECMA-C0604H
ECMA-C06047
() ASD-ABPW000X
() ASDBCAPW0000
() ASD-ABPW010X
() ASDBCAPW0100
ASD-ABEN000X
ASD-A2EB000X
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)
B-12 June, 2015

ASDA-MS B
750 W MS 500 W
MS ASD-MS-0721-F
()
ECMA-E1305S
ASD-CAPW100X
B
() ASD-CAPW110X
() ASD-CAPW1000
() ASD-CAEN100X
ASD-A2EB100X
ASD-CAEN1000
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)
750 W MS 300 W
MS ASD-MS-0721-F
ECMA-G1303S
() ASD-CAPW100X
() ASD-CAPW110X
() ASD-CAPW1000
() ASD-CAEN100X
ASD-A2EB100X
ASD-CAEN1000
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)

1. ASDA-MS
2.
3.
June, 2015 B-13

B ASDA-MS
750 W MS 750 W
MS ASD-MS-0721-F
B
ECMA-C0807S
ECMA-C0807H
ECMA-C0907S
() ASD-ABPW000X
() ASDBCAPW0000
() ASD-ABPW010X
() ASDBCAPW0100
ASD-ABEN000X
ASD-A2EB000X
ASD-ABEN0000
(X = 3 3 m; X = 5 5 m)
( ASD-MS )

RS-232 ASD-CARS0003
RS-485 ASD-CNIE0B06
B-14 June, 2015

USB-Serial C-2
USB- EtherNet C-5
C-9
June, 2015 C-1

C ASDA-MS
USB-Serial
USB-Serial
C Gadget Serial v2.4

C-2 June, 2015

ASDA-MS C
linux-cdc-acm.inf
June, 2015 D-3

C ASDA-MS
(COM LPT)USB Gadget Serial (COM?)
C-4 June, 2015

ASDA-MS C
USB-EtherNet
USB-EtherNet
RNDIS/EtherNet Gadget

C
June, 2015 D-5

C ASDA-MS
C-6 June, 2015

ASDA-MS C
Microsoft Corporation
Remote NDIS Compatible Device

(Y)
June, 2015 D-7

C ASDA-MS
RNDIS/EtherNet Gadget
C-8 June, 2015

ASDA-MS C
10
[1] -
A. whe
[1]
(w)(h)(e)
June, 2015 D-9

C ASDA-MS
B.
Tool

C-10 June, 2015

ASDA-MS C
20
[1] -
[1]
A.
()

June, 2015 D-11

C ASDA-MS
B. X
X ()

C C. Y
Y ()

D.
User
C-12 June, 2015

ASDA-MS C
10
[1] - w 10 um
h 20 ume 10 (10000 )
C
A. whe
1. P2-07 0x00010013

2. P2-08 10
3. P2-07 0x01010013

4. P2-08 20
5. P2-07 0x02010013

6. P2-08 10000
7. P2-06 0x01011132

B.
1. P2-06 0x01010231
0x01000050 P2-06
A.
1. P2-06 0x01001132
B.
1. P2-07 0x00000013
2. P2-09 w (10)
3. P2-07 0x01000013
4. P2-09 h (20)
5. P2-07 0x02000013
6. P2-09 e (10000)
June, 2015 D-13

C ASDA-MS
20
[1] -(x,y,z)
(1,1,0)X (x,y,z)(10,1,0)Y (x,y,z)(1,10,0)
A.
1. P2-07 0x00010013

2. P2-08 1
3. P2-07 0x01010013

4. P2-08 1
5. P2-07 0x02010013

6. P2-08 0
7. P2-06 0x00011142

B. X
1. P2-07 0x00010013

2. P2-08 10
3. P2-07 0x01010013

4. P2-08 1
5. P2-07 0x02010013

6. P2-08 0
7. P2-06 0x00012142

C. Y
1. P2-07 0x00010013

2. P2-08 1
3. P2-07 0x01010013

4. P2-08 10
5. P2-07 0x02010013

6. P2-08 0
7. P2-06 0x00013142

D.
1. P2-06 0x00000141

0x00000040 P2-06
C-14 June, 2015

ASDA-MS C
30-
A.
B.
1. P2-06 0x00000044

C
1. P2-07 0x00000013
P2-09 400032
X
2. P2-07 0x01000013
P2-09 10 Y
3. P2-07 0x02000013
P2-09 1 Z
4. P2-07 0x03000013
P2-09 0 A
5. P2-07 0x04000013
P2-09 0 B
6. P2-07 0x05000013
P2-09 8 C
40-(PUU)
A.
1. P2-06 0x00000014

B.
1. P2-07 0x00000013
P2-09 400032
1 PUU
2. P2-07 0x01000013P2-09 10 2 PUU
3. P2-07 0x02000013P2-09 1 3 PUU
4. P2-07 0x03000013P2-09 0 4 PUU
June, 2015 D-15

C ASDA-MS
()
C-16 June, 2015

June, 2015 V1.0
()
ASDA-MS
(1) DRAS ()
June, 2015 1
ASDA-MS
()
2 June, 2015

(TCS) 7-2 7-4
7-12 7-19
7-22
(P2-06) 8-3 8-14 7-22
(P2-09) 8-4 8-15 7-23
7-13 7-23
7-14 7-18
(P2-06) 8-3 8-14

(P2-07) 8-3 8-15
5-5
(P2-08) 8-4 8-15
7-5
(P2-09) 8-4 8-15
7-5

7-11 7-23 8-16
(E?82B) 11-3 11-9
7-10
7-20 7-21 7-23
7-16
7-20
7-22
7-21
7-24
P 6-4
7-14
5-6

Jog 5-5 7-23
7-5 7-18
D-11
(P2-06) 8-3 8-14

7-13
7-6
7-20
7-5
7-21
MS 7-2
7-7

(MCS) 7-2 7-8
7-10 7-6
7-10 7-5
7-10 MS 7-2
7-11 7-7
7-11 7-13 7-14 7-18
(P2-06) 8-3 8-14 (P2-06) 8-3 8-14
(P2-07) 8-3 8-15 (P2-09) 8-4 8-15
(P2-08) 8-4 8-15 7-16
(P2-09) 8-4 8-15 7-17
(P2-14) 8-4 8-18 7-17
(P2-03) 8-3 8-12 7-18

7-12

(PCS) 7-2 7-3
7-8
7-12 7-15 7-18 7-20 7-21 7-23
7-6

7-5
(P2-06) 8-3 8-14
MS 7-2
(P2-07) 8-3 8-15
7-7
(P2-08) 8-4 8-15
June, 2015 1
(P2-09) 8-4 8-15 DMCNET Bus (E?185) 11-5 11-21
DMCNET (E?201) 11-5 11-21
(E?82A) 11-3 11-9 DMCNET (E?301) 11-5 11-23
7-13 DMCNET (E?302) 11-5 11-23
7-14 DMCNET (E?303) 11-5 11-23
P 6-4 DMCNET IP (E?304) 11-5 11-23
-DMC DMCNET 8-2
RS-232 / RS-485 8-30
Layout (RS-232 / RS-485 ) 3-20

HMI TP
RS-232 B-10 B-14
HMI TP 3-26
RS-485 B-10 B-14

(P3-05) 3-20 8-4 8-21 9-2

EtherNet (P5-08) 8-29 8-47
ASDA-MS A-2 (P5-09) 8-29 8-47
EtherNet / DMCNET 3-24
MS 1-7 (E?014) 11-4 11-14
MS 3-3 (E?015) 11-4 11-15
(E?283) 11-5 11-22
EtherNet (P3-20) 8-4 8-22 (E?285) 11-5 11-22
EtherNet IP (P3-21) 8-4 8-23 -038(26h) 10-12
EtherNet (P3-22) 8-4 8-23
EtherNet (P3-23) 8-4 8-23 () (P2-69) 8-45
EtherNet (P3-24) 8-4 8-23 () (P2-71) 8-45
EtherNet IP (P3-25) 8-4 8-24
EtherNet (P3-26) 8-4 8-24 (E?235) 11-5 11-22
EtherNet (P3-27) 8-4 8-24 (E?289) 11-5 11-22 10-12
USB (P3-06) 8-4 8-21 (E?029) 11-4 11-18 10-12
(E?069) 11-4 11-20 10-12
DMCNET
(E?060) 11-4 11-19 10-12
ASDA-MS A-2
(E?062) 11-4 11-20 10-12
DMCNET 8-30
(E?06A) 11-5 11-20 10-12
EtherNet / DMCNET 3-24
(E?028) 11-4 11-18 10-12
MS 1-7
(E?034) 11-4 11-19 10-12
MS 3-3
(E?061) 11-4 11-19 10-12
10-14
10-3

10-6 B-8
DMCNET (P3-30) 8-4 8-24
B-9
DMCNET NO.1 (P3-31) 8-4 8-25

DMCNET NO.2 (P3-32) 8-4 8-25
(N1) (P1-44) 8-29 8-37
DMCNET NO.3 (P3-33) 8-4 8-25
(M) (P1-45) 8-29 8-37
DMCNET NO.4 (P3-34) 8-4 8-25
8-30
DMCNET NO.5 (P3-35) 8-4 8-26
DMCNET NO.6 (P3-36) 8-4 8-26
DMCNET NO.7 (P3-37) 8-5 8-26 5-1
DMCNET NO.8 (P3-38) 8-5 8-26 5-7
DMCNET NO.9 (P3-39) 8-5 8-26 5-8
DMCNET NO.10 (P3-40) 8-5 8-27 5-12
DMCNET NO.11 (P3-41) 8-5 8-27
DMCNET NO.12 (P3-42) 8-5 8-27 (P2-26) 5-12 8-29 8-43
(P2-49) 8-29 8-44
DMCNET (E?111) 11-5 11-21
2 June, 2015
(P2-08) 8-4 8-15
5-12 (P2-09) 8-4 8-15
5-11
(E?82A) 11-3 11-9
Notch filter (1) (P2-23) 8-28 8-42 (E?82B) 11-3 11-9
Notch filter (1) (P2-24) 8-28 8-43 (ACS) 7-4
(P2-25) 5-12 8-43 7-24

ASDA-MS - A-2
DI/O 6-7 6-37
(DELTA Robot Language, DRL) 6-3
6-6 6-8
6-6 6-12
6-7 6-19
6-3
7-5 7-6 7-10 7-17 7-22 7-25
P 6-4

(P0-03) 8-3 8-7
(P1-00) 8-3 8-9

(E?821) 10-3 10-7

(P2-09) 8-15
(P1-44) (P1-45) 8-29 8-37
(P2-00) 8-12
(P2-01) 8-12
(P2-02) 8-12
(P2-03) 8-12
(CVT)

(CVT) (P2-12) 8-4 8-17
(CVT) (P2-13) 8-4 8-18
(CVT) (P2-14) 8-4 8-18

(CVT) (E?851) 11-3 11-10
(CVT) (E?852) 11-3 11-10
(CVT) (E?853) 11-3 11-10

MS 7-2
7-24
7-25
7-25
7-26
/

(P2-06) 8-3 8-14
(P2-07) 8-3 8-15
June, 2015 3
P3-24 EtherNet
P3-25 EtherNet IP

P3-26 EtherNet
P0-xx P3-27 EtherNet
P3-28~P3-29
P0-00
P3-30 DMCNET
P0-01 ()
P3-31 DMCNET NO.1
P0-02
P3-32 DMCNET NO.2
P0-03
P3-33 DMCNET NO.3
P0-04
P3-34 DMCNET NO.4
P0-05
P3-35 DMCNET NO.5
P0-06
P3-36 DMCNET NO.6
P0-07 Lua FTP
P3-37 DMCNET NO.7
P0-08
P3-38 DMCNET NO.8
P1-xx P3-39 DMCNET NO.9
P1-00 P3-40 DMCNET NO.10
P1-01 P3-41 DMCNET NO.11
P1-02~P1-05 P3-42 DMCNET NO.12
P1-06 FTP
P1-07
P0-08
P0-09
P0-10 (16-bit)
P2-xx
P2-00
P2-01
P2-02
P2-03
P2-04~P2-05
P2-06
P2-07
P2-08
P2-09
P2-10~P2-11
P2-12 CV Tracking
P2-13 CV Tracking
P2-14 CV Tracking
P3-xx
P3-00 MODBUS
P3-01
P3-02
P3-03~P3-04
P3-05
P3-06 USB
P3-07
P3-08
P3-09~P3-19
P3-20 EtherNet
P3-21 EtherNet IP
P3-22 EtherNet
P3-23 EtherNet
4 June, 2015
P2-04
P2-05
P0-xx P2-06
P0-00 P2-07
P0-01 P2-08
P0-08 P2-10 DI 1
P0-46 (DO) P2-11 DI 2
P2-18 DO 1
P1-xx
P2-23 Notch filter (1)
P1-01 P2-24 Notch filter (1)
P1-25 (1) P2-25
P1-26 (1) P2-26
P1-27 (2) P2-35
P1-28 (2) P2-49
P1-29 P2-53
P1-30 P2-69 ()
P1-32 P2-71 ()
P1-34 S P2-93 STO FDBK
P1-35 S
P3-xx
P1-36 S
P1-37 P3-06 (DI)
P1-38
P4-xx
P1-42
P4-06 DO ()
P1-43
P4-07
P1-44 (N1)
P1-45 (M1) P5-xx Motion
P1-48 (DO.MC_OK)
P5-08
P1-54
P5-09
P1-55
P6-xx
P2-xx
P6-01
P2-00
P2-01
P2-02
P2-03
June, 2015 5
()
June, 2015 6

Delta Ia-Gmc Ms Um TC 20150602

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Delta Ia-Gmc Ms Um TC 20150602

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ASDA-MS

ASDA-MS (Open type)

June, 2015 iii

June, 2015 1-1

(4) USB1 4 PIN ()

(5) DMCNET RJ45 ()

750 W2 PIN (24 V0V)

750 W3 PIN (RST)

(7) 6-PIN (UVW) 2

1-2 June, 2015

E11320RS T 14 37 0017 (1)

June, 2015 1-3

EtherCAT CANopen DMCNET E-CAM DI

1-4 June, 2015

June, 2015 1-5

50 ECMA-C1040FS 0.69 2.05

100 ECMA-C0401S 0.90 2.70

200 ECMA-C0602S 1.55 4.65 ASD-MS-0721-F 5.10 15.30

400 ECMA-C08047 2.60 7.80

1000 ECMA-C0910S 3.66 11.00

ASD-MS-0721-F 5.10 15.30

500 ECMA-E1305S 2.90 8.70 ASD-MS-0721-F 5.10 15.30

850 ECMA-F1308S 7.10 19.4

1-6 June, 2015

(10) STD.DIOUser I/O 24 DI12 DO

(13) SYS.DIOSystem I/O 8 SDI8 SDO

June, 2015 1-7

1-8 June, 2015

June, 2015 2-1

2-2 June, 2015

June, 2015 2-3

2-4 June, 2015

2.6 (EMI Filters)

Servo Drive EMI Filter FootPrint

EMI (EMI Filter)

EMI (EMI Filter) MS

June, 2015 2-5

2-6 June, 2015

June, 2015 3-1

3-2 June, 2015

June, 2015 3-3

3-4 June, 2015

Servo Drive U_B

24 VDC V_D Motor_D

June, 2015 3-5

Servo Drive U_B

DO-_A V_C Motor_C

24 VDC DO+_C V_D Motor_D

3-6 June, 2015

June, 2015 3-7

3-8 June, 2015

June, 2015 3-9

3-10 June, 2015

(1) (2) 3.3

BRAID SHIELD 3.1.6

June, 2015 3-11

L1cL2c RST UVW P C

3-12 June, 2015

3.2 STD.DIO SYS.DIO I/O

(1) STD.DIO (2) STD.DIO

June, 2015 3-13

(1) SYS.DIO (2) SYS.DIO

2 SDO 3+ 11 SDO 2+ 20 SDO 5-