Chapter 11 Specifications

11.2 Specifications of Servo Motor (ECMA Series)

Low Inertia Servo Motor
Model: ECMA Series

C204

C206

C208

C209

C210

01

02

04

04

07

07

10

10

20

Rated output power (kW)

0.1

0.2

0.4

0.4

0.75

0.75

1.0

1.0

2.0

Rated torque (N-m) *1

0.32

0.64

1.27

1.27

2.39

2.38

3.18

3.18

6.37

Maximum torque (N-m)

0.96

1.92

3.82

3.82

7.16

7.14

8.78

9.54

19.11

Rated speed (r/min)

3000

Maximum speed (r/min)

5000

3000

5000

Rated current (A)

0.90

1.55

2.60

2.60

5.10

3.66

4.25

7.30

12.05

Maximum current (A)

2.70

4.65

7.80

7.74

15.3

11

12.37

21.9

36.15

22.4

57.6

22.1

48.4

29.6

38.6

38.1

90.6

0.177

0.277

0.68

1.13

1.93

2.62

2.65

4.45

0.80

0.53

0.73

0.62

1.72

1.20

0.74

0.61

0.41

0.49

0.49

0.47

0.65

0.75

0.43

0.53

16.0

17.4

18.5

17.2

27.5

24.2

16.8

19.2

2.79

1.55

0.93

0.42

1.34

0.897

0.20

0.13

Power rating (kW/s)

27.7
(without brake)
Rotor moment of inertia
0.037
( 10-4kg.m2) (without
brake)
Mechanical time constant
0.75
(ms) (without brake)
Torque constant-KT
0.36
(N-m/A)
Voltage constant-KE
13.6
(mV/(r/min))
Armature resistance
9.30
(Ohm)
Armature inductance (mH)

24.0

12.07

6.71

7.39

3.53

7.55

5.7

1.81

1.50

Electrical time constant

(ms)

2.58

4.30

4.30

7.96

8.36

5.66

6.35

9.30

11.4

Insulation class

Class A (UL), Class B (CE)

Insulation resistance

>100M, DC 500V

Insulation strength

1500V AC, 60 seconds

Weight (kg) (without

brake)

0.5

1.2

1.6

2.1

3.0

2.9

3.8

4.3

6.2

Weight (kg) (with brake)

0.8

1.5

2.0

2.9

3.8

3.69

5.5

4.7

7.2

Max. radial shaft load (N)

78.4

196

196

245

245

245

245

490

490

Max. thrust shaft load (N)

39.2

68

68

98

98

98

98

98

98

25.6

21.3

53.8

22.1

48.4

29.3

37.9

30.4

82.0

0.04

0.192

0.30

0.73

1.18

1.95

2.67

3.33

4.95

0.81

0.85

0.57

0.78

0.65

1.74

1.22

0.93

0.66

0.3

1.3

1.3

2.5

2.5

2.5

2.5

8.0

8.0

7.2

6.5

6.5

8.2

8.2

8.2

8.2

18.5

18.5

Power rating (kW/s)

(with brake)
Rotor moment of inertia
( 10-4kg.m2) (with brake)
Mechanical time constant
(ms) (with brake)
Brake holding torque
[Nt-m (min)]
Brake power consumption
o

(at 20 C) [W]

11-4

Revision June 2010

Chapter 11 Specifications

Model: ECMA Series

Brake release time
[ms (Max)]
Brake pull-in time
[ms (Max)]

C204

C206

C208

C209

C210

01

02

04

04

07

07

10

10

20

10

10

10

10

10

10

10

10

25

70

70

70

70

70

70

70

70

Vibration grade (um)

15

Operating temperature

0 ~ 40 oC

Storage temperature

-10 ~ 80 oC

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity

2.5G

IP rating

IP65 (when waterproof connectors are used, or when an oil seal is used to
be fitted to the rotating shaft (an oil seal model is used))

Approvals
Footnote:
*1

Rate torque values are continuous permissible values at 0~40oC ambient temperature when
attaching with the sizes of heatsinks listed below:
ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm
ECMA-__10 : 300mm x 300mm x 12mm
ECMA-__13 : 400mm x 400mm x 20mm
ECMA-__18 : 550mm x 550mm x 30mm
Material type : Aluminum F40, F60, F80, F100, F130, F180

*2

For the specifications of the motors with rotary magnetic encoders, please refer to the
specifications of the corresponding standard models.

NOTE
1) Please refer to Section 1.2 for details about the model explanation.

Revision June 2010

11-5

Chapter 11 Specifications

Medium / High Inertia Servo Motor

Model: ECMA Series

E213

E218

F218

G213

05

10

15

20

20

30

30

03

06

09

Rated output power (kW)

0.5

1.0

1.5

2.0

2.0

3.0

3.0

0.3

0.6

0.9

Rated torque (N-m) *1

2.39

4.77

7.16

9.55

9.55

14.32 19.10

2.86

5.73

8.59

Maximum torque (N-m)

7.16

14.32 21.48 28.65 28.65 42.97 57.29

8.59

Rated speed (r/min)

2000

Maximum speed (r/min)

1500

2000

2.9

5.6

8.3

Maximum current (A)

8.7

16.8

24.81

33.0

7.0

27.1

45.9

62.5

8.17

8.41

1.91

1.51

1.11

0.96

1.62

1.06

0.83

0.85

0.87

0.87

0.85

30.9

31.9

31.8

31.8

31.4

0.57

0.47

0.26

7.39

5.99

4.01

(without brake)
Rotor moment of inertia
( 10-4kg.m2)
Mechanical time constant
(ms)
Torque constant-KT
(N-m/A)
Voltage constant-KE
(mV/(r/min))
Armature resistance
(Ohm)
Armature inductance
(mH)
Electrical time constant
(ms)

1000

3000

Rated current (A)

Power rating (kW/s)

11.01 11.22

16.1

19.4

2.5

4.8

7.5

33.66

48.3

58.2

7.44

14.49

22.5

26.3

37.3

66.4

10.0

39.0

66.0

8.17

8.41

11.18

1.28

1.84

1.40

1.07

0.89

0.98

1.15

1.19

1.15

32.0

35.0

42.5

43.8

41.6

1.06

0.82

0.43

11.18 14.59 34.68 54.95 54.95

0.174 0.119 0.052 0.077

2.76

17.19 21.48

2.84

1.38

1.27

14.29 11.12

6.97

12.96 12.88 15.31 15.86 23.87 26.39 16.51 13.55 13.55 16.06

Insulation class

Class A (UL), Class B (CE)

Insulation resistance

>100M, DC 500V

Insulation strength

AC 1500V60 sec

Weight (kg) (without

brake)

6.8

7.0

7.5

7.8

13.5

18.5

18.5

6.8

7.0

7.5

Weight (kg) (with brake)

8.2

8.4

8.9

9.2

17.5

22.5

22.5

8.2

8.4

8.9

Max. radial shaft load (N)

490

490

490

490

1176

1470

1470

490

490

490

Max. thrust shaft load (N)

98

98

98

98

490

490

490

98

98

98

6.4

24.9

43.1

59.7

24.1

35.9

63.9

9.2

35.9

62.1

8.94

9.14

8.94

9.14

11.9

2.07

1.64

1.19

1.05

1.77

1.10

1.33

2.0

1.51

1.13

10.0

10.0

10.0

10.0

25.0

25.0

25.0

10.0

10.0

10.0

19.0

19.0

19.0

19.0

20.4

20.4

20.4

19.0

19.0

19.0

Power rating (kW/s)

(with brake)
Rotor moment of inertia
( 10-4kg.m2) (with brake)
Mechanical time constant
(ms) (with brake)
Brake holding torque
[Nt-m (min)]
Brake power
consumption
o
(at 20 C) [W]

11-6

11.90 15.88 37.86 57.06 57.06

Revision June 2010

Chapter 11 Specifications

Model: ECMA Series

Brake release time
[ms (Max)]
Brake pull-in time
[ms (Max)]

E213

E218

F218

05

10

15

20

20

30

30

03

06

09

10

10

10

10

10

10

10

10

10

10

70

70

70

70

70

70

70

70

70

70

Vibration grade (um)

15

Operating temperature

0 ~ 40 oC

Storage temperature

-10 ~ 80 oC

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity

2.5G

IP rating

G213

IP65 (when waterproof connectors are used, or when an oil seal is used to
be fitted to the rotating shaft (an oil seal model is used))

Approvals
Footnote:
*1

Rate torque values are continuous permissible values at 0~40oC ambient temperature when
attaching with the sizes of heatsinks listed below:
ECMA-__04 / 06 / 08 : 250mm x 250mm x 6mm
ECMA-__10 : 300mm x 300mm x 12mm
ECMA-__13 : 400mm x 400mm x 20mm
ECMA-__18 : 550mm x 550mm x 30mm
Material type : Aluminum F40, F60, F80, F100, F130, F180

*2

For the specifications of the motors with rotary magnetic encoders, please refer to the
specifications of the corresponding standard models.

NOTE
1) Please refer to Section 1.2 for details about the model explanation.

Revision June 2010

11-7

Chapter 11 Specifications

11.3 Servo Motor Speed-Torque Curves

11-8

Revision June 2010

Chapter 11 Specifications

11.6 Dimensions of Servo Motor

Motor Frame Size: 86mm and below Models

Model

C20401S C20602S C20604S C20804S C20807S C20907S C20910S

LC

40

60

60

80

80

86

86

LZ

4.5

5.5

5.5

6.6

6.6

6.6

6.6

LA

46

70

70

90

90

100

100

8( +00.009)

14( +00.011)

14( +00.011)

14( +00.011)

19( +00.013)

16( +00.011)

16( +00.011)

LB

30( +00.021)

50( +00.025)

50( +00.025)

70( +00.030 )

70( +00.030 )

80( +00.030 )

80( +00.030 )

LL (without
brake)

100.6

105.5

130.7

112.3

138.3

130.2

153.2

LL (with brake)

136.6

141.6

166.8

152.8

178

161.3

184.3

LS (without oil
seal)

20

27

27

27

32

30

30

LS (with oil seal)

20

24

24

24.5

29.5

30

30

LR

25

30

30

30

35

35

35

LE

2.5

LG

7.5

7.5

LW

16

20

20

20

25

20

20

RH

6.2

11

11

11

15.5

13

13

WK

3
M3
Depth 8

5
M4
Depth 15

5
M4
Depth 15

5
M4
Depth 15

6
M6
Depth 20

5
M5
Depth 15

5
M5
Depth 15

TP

NOTE
1) Dimensions are in millimeters.
2) Dimensions and weights of the servo motor may be revised without prior notice.
3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2
for model explanation.)
4) Except ECMA-CM0604PS LL: 116.2mm, for the specifications of the motors with rotary
magnetic encoders, please refer to the specifications of the corresponding standard models.

Revision June 2010

11-15

Chapter 11 Specifications

Motor Frame Size: 100mm ~ 130mm Models

Model

G21303S

E21305S

G21306S

G21309S

C21010S

LC

130

130

130

130

100

LZ

LA

145

145

145

145

115

22( +00.013)

22( +00.013)

22( +00.013)

22( +00.013)

22( +00.013)

LB

110( +00.035)

110( +00.035)

110( +00.035)

110( +00.035)

95( +00.035)

LL (without brake)

147.5

147.5

147.5

163.5

153.3

LL (with brake)

183.5

183.5

183.5

198

192.5

LS

47

47

47

47

37

LR

55

55

55

55

45

LE

LG

11.5

11.5

11.5

11.5

12

LW

36

36

36

36

32

RH

18

18

18

18

18

WK

7
M6
Depth 20

7
M6
Depth 20

7
M6
Depth 20

7
M6
Depth 20

7
M6
Depth 20

TP

NOTE
1) Dimensions are in millimeters.
2) Dimensions and weights of the servo motor may be revised without prior notice.
3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2
for model explanation.)
4) For the specifications of the motors with rotary magnetic encoders, please refer to the
specifications of the corresponding standard models.

11-16

Revision June 2010

Chapter 11 Specifications

Motor Frame Size: 100mm ~ 130mm Models

Model

E21310S

E21315S

C21020S

E21320S

LC

130

130

100

130

LZ

LA

145

145

115

145

22( +00.013)

22( +00.013)

22( +00.013)

22( +00.013)

LB

110( +00.035)

110( +00.035)

95( +00.035)

110( +00.035)

LL (without brake)

147.5

167.5

199

187.5

LL (with brake)

183.5

202

226

216

LS

47

47

37

47

LR

55

55

45

55

LE

LG

11.5

11.5

12

11.5

LW

36

36

32

36

RH

18

18

18

18

WK

7
M6
Depth 20

7
M6
Depth 20

7
M6
Depth 20

7
M6
Depth 20

TP

NOTE
1) Dimensions are in millimeters.
2) Dimensions and weights of the servo motor may be revised without prior notice.
3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2
for model explanation.)

Revision June 2010

11-17

Chapter 11 Specifications

Motor Frame Size: 180mm Models

Model

E21820S

E21830S

F21830S

LC

180

180

180

LZ

13.5

13.5

13.5

LA

200

200

200

35( +00.016)

35( +00.016)

35( +00.016)

LB

114.3( +00.035)

114.3( +00.035)

114.3( +00.035)

LL (without brake)

169

202.1

202.1

LL (with brake)

203.1

235.3

235.3

LS

73

73

73

LR

79

79

79

LE

LG

20

20

20

LW

63

63

63

RH

30

30

30

WK

10

10

10

10

10

10

8
M12
Depth 25

8
M12
Depth 25

8
M12
Depth 25

TP

NOTE
1) Dimensions are in millimeters.
2) Dimensions and weights of the servo motor may be revised without prior notice.
3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2
for model explanation.)

11-18

Revision June 2010

Chapter 1 Unpacking Check and Model Explanation

1.3 Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-B2 series servo drives and
ECMA series servo motors. The boxes () in the model names are for optional configurations.
(Please refer to Section 1.2 for model explanation)
Power

Servo Drive

100W

ASD-B2-0121-B

ECMA-C20401SS=8mm

200W

ASD-B2-0221-B

ECMA-C20602SS=14mm

ASD-B2-0421-B

ECMA-C20604S (S=14mm)
ECMA-CM0604S (S=14mm)
ECMA-C208047 (7=14mm)
ECMA-E21305S (S=22mm)
ECMA-G21303S (S=22mm)

ASD-B2-0721-B

ECMA-C20807S (S=19mm)
ECMA-C20907S (S=16mm)
ECMA-G21306S (S=22mm)
ECMA-GM1306S (S=22mm)

1000W

ASD-B2-1021-B

ECMA-C21010S (S=22mm)
ECMA-C20910S (S=16mm)
ECMA-E21310S (S=22mm)
ECMA-G21309S (S=22mm)
ECMA-GM1309S (S=22mm)

1500W

ASD-B2-1521-B

ECMA-E21315S (S=22mm)

2000W

ASD-B2-2023-B

ECMA-C21020S (S=22mm)
ECMA-E21320S (S=22mm)
ECMA-E21820S (S=35mm)

3000W

ASD-B2-3023-B

ECMA-E21830S (S=35mm)
ECMA-F21830S (S=35mm)

400W

750W

Servo Motor

The servo drives shown in the above table are designed for use in combination with the
specific servo motors. Check the specifications of the drives and motors you want to use.
Also, please ensure that both the servo drive and motor are correctly matched for size (power
rating). If the power of motor and drive is not within the specifications, the drive and motor
may overheat and servo alarm would be activated. For the detail specifications of servo drives
and motors, please refer to Chapter 11 Specifications.
The drives shown in the above table are designed according to the three multiple of rated
current of motors shown in the above table. If the drives which are designed according to the
six multiple of rated current of motors are needed, please contact our distributors or your
local Delta sales representative.

Revision June 2010

1-5