Delta ECMA-E11320RS — ASDA-A2 Series 2.0 kW AC Servo Motor & Drive Kit, 2000 rpm / 9.55 N·m, 130mm Frame

A Complete Servo System in One Box

Specifying a servo axis has always involved sourcing the motor, drive, encoder cables, and power cables separately, then spending time confirming that each piece is compatible with the rest. The Delta ECMA-E11320RS kit resolves that problem at the purchase level. The motor, the matched ASDA-A2 servo drive, and the encoder and power cables arrive together as a verified, compatible system — the kind of thing that saves commissioning engineers from hunting down obscure connector pinouts or discovering a cable impedance mismatch after everything is mounted.

At the heart of the kit is the ECMA-E11320RS, a 130mm frame, 2.0 kW permanent magnet AC servo motor running at 2,000 rpm rated speed, producing 9.55 N·m of continuous torque. That's a practical power point for a wide range of medium-duty industrial axes — rotary tables, conveyor drives, feed screws on CNC machines, articulated robot joints, and similar applications where the axis needs genuine servo performance rather than stepper-level accuracy.

What's in the Kit

A complete ECMA-E11320RS servo system kit includes:

• 1 × ECMA-E11320RS — 2.0 kW AC servo motor, 130mm frame
• 1 × ASD-A2-2023 — matched 2.0 kW ASDA-A2 series servo drive, 220V 3-phase input
• 1 × Encoder cable — 3m, motor to drive
• 1 × Power cable — 3m, motor to drive output terminals

The motor and drive are pre-matched; the encoder cable connector pinout corresponds to the drive's CN2 encoder input, and the power cable carries the three-phase motor voltage from the drive's U/V/W output terminals. Longer cables are available as accessories for installations where 3m does not reach from the panel to the motor mounting position.

Motor Technical Specifications

The 20-Bit Encoder: Why Resolution Matters at 2 kW

The ECMA-E11320RS carries a 20-bit incremental encoder as standard — 1,280,000 counts per motor revolution. At the 2.0 kW power class, this resolution level is not common in cost-reduced servo packages; it is the same encoder specification that Delta uses across the entire ASDA-A2 motor family.

What does 20-bit resolution mean on an axis? On a machine tool using a 10mm pitch ballscrew, 1,280,000 encoder counts per motor revolution divided by 10mm pitch gives a theoretical resolution of 7.8 nanometers per encoder count — orders of magnitude finer than any mechanical component in the system can actually achieve. The practical effect is that the servo drive's position control loop always has more information than it needs, and the limit on positioning accuracy becomes the mechanics of the machine rather than the granularity of the feedback. For a machine producing finished parts that need to meet dimensional tolerances, that is exactly the right relationship between feedback and mechanics.

High encoder resolution also contributes to smooth rotation at low speed. An encoder with coarser resolution introduces ripple in the velocity feedback — the drive's speed loop sees discretized position steps rather than a smooth velocity signal, which causes torque ripple that is audible as motor noise and visible as velocity variation. At 1,280,000 counts per revolution, this quantization effect is negligible even at very low commanded speeds.

The ASDA-A2 Drive: Engineered Beyond Basic Motion

The drive included in the ECMA-E11320RS kit — the ASD-A2-2023 — is not a simple pulse-follower. The ASDA-A2 platform represents Delta's high-performance servo architecture, and the 2.0 kW variant carries the full feature set of that platform.

Built-in Electronic Cam (E-CAM) is one of the most significant capabilities of the A2 series. Up to 720 E-CAM points can be programmed into the drive, allowing it to execute synchronized motion profiles — flying shear, rotary cut, synchronized conveyor drives — without a high-speed motion controller in the external PLC. The E-CAM function maps master encoder position to follower motor position through a user-defined cam table, and the drive executes the synchronized motion in real time using its internal processing. Machines that previously needed a dedicated motion controller can run these profiles from the servo drive itself, simplifying the control architecture.

Position Register (PR) mode is the A2 series' internal position control capability. Up to 64 position registers can be stored in the drive, each specifying a target position, speed, and acceleration. Transitions between registers are triggered by digital inputs or communication commands. A complete multi-step positioning sequence — move to position 1, dwell, move to position 2, return to home — runs from the drive's internal program without real-time position commands from the controller. For machines that repeat a fixed set of moves, this offloads the motion sequencing from the PLC and reduces the demands on the control network.

Auto notch filter and vibration suppression address the resonance and ringing that occur at the end of positioning moves, particularly in machines with flexible mechanical elements — long unsupported spindles, cantilever-mounted tooling, or belt drives with low stiffness. The A2 drive automatically detects mechanical resonance frequencies and applies notch filters to suppress them without manual gain tuning. Two independent vibration suppression filters target low-frequency oscillation, which is the most common cause of settling delay in medium-duty machine axes.

Full-closed loop control is available on A2-F variant drives, accepting a secondary external encoder mounted on the load side of the machine drivetrain. This closes the position loop around actual load position rather than motor shaft position, eliminating the position error caused by ballscrew pitch variation, coupling compliance, and thermal growth in the mechanical transmission. For precision machine tools where axis accuracy must be maintained over the full stroke, full-closed control is what makes the specification achievable.

Communications: RS-232, RS-485, CANopen, USB

The ASD-A2-2023 communicates through four interfaces, each serving different integration scenarios.

RS-232 is the point-to-point PC connection used for commissioning, parameter setup, and monitoring with Delta's ASDA-Soft configuration software. The software provides a real-time oscilloscope view of position, speed, and torque waveforms, a full parameter editor, and a teach-in function for capturing positions from manual movement.

RS-485 supports multi-drop wiring — multiple drives sharing a single RS-485 bus with a host PLC or HMI, each addressed individually. At standard bus speeds, a single RS-485 network can reach a substantial number of drives, which simplifies panel wiring in multi-axis machines.

CANopen is the network interface for integration with CANopen motion controllers and PLCs. The drive implements the CiA 402 profile, which is the standard CANopen motion control profile — position, speed, and torque operating modes are accessible through standard CANopen objects. This makes the drive compatible with any CANopen master that follows the CiA 402 standard without custom programming.

USB connects directly to a PC without the RS-232/485 adapter hardware, using the same ASDA-Soft software. For initial setup and parameter work at a workbench, USB is the fastest connection to establish.

The Oil Seal and IP65: Practical Protection for Real Environments

The ECMA-E11320RS ships with an oil seal fitted at the shaft exit. This seals the gap between the rotating shaft and the motor endbell against contamination intrusion — coolant mist, cutting oil aerosol, wash-down water, and dust. Without an oil seal, these contaminants migrate into the motor bearing cavity over time, accelerating bearing wear and eventually reaching the encoder.

The IP65 enclosure rating applies to the motor body and specifies protection against dust ingress (IP6X — completely dust-tight) and water jets from any direction (IPX5). This is the appropriate protection level for machine tool environments, food processing equipment, and other installations where the motor is in proximity to liquid or particulate contamination. The drive — housed in a panel — operates in a controlled environment and does not carry an equivalent protection rating.

The keyway shaft (22mm diameter with tapped screw holes) provides positive torque transmission to couplings and pulleys without relying solely on interference fit. The tapped holes in the shaft end allow a coupling retention screw to pull against the shaft end face, preventing axial migration under reversing loads — a practical detail that matters in axes that frequently reverse direction.

Typical Applications

The 2.0 kW / 2,000 rpm / 9.55 N·m combination covers a well-defined band of industrial motion applications:

CNC machine tools — rotary table drives, feed axis drives on small machining centers and lathes, and auxiliary positioning axes where the load is a tool turret, steady rest, or workholding fixture. The 130mm frame fits the standard servo mounting interfaces on most small and medium CNC machines.

Packaging machinery — carton erectors, form-fill-seal machines, product indexers, and case packing equipment. The E-CAM and PR mode capabilities allow the drive to execute synchronized and indexed motion profiles directly, which simplifies the machine PLC's motion coordination task.

Robotics — joint drives on Cartesian and SCARA robot systems where individual axes are in the 1–3 kW range. The medium-high inertia motor characteristic (rotor inertia 14.59 × 10⁻⁴ kg·m²) provides better inertia matching to typical robot arm load inertia than ultra-low-inertia motors of the same power class.

Printing and converting equipment — web tension control, register mark following, and slitter-rewinder drives where synchronized motion and controlled torque are both required within the same machine.

Injection moulding and extrusion — servo-driven material feed, screw drives, and ejector mechanisms where repeatable position and controlled force are both requirements.

Frequently Asked Questions

Q1: Does the ECMA-E11320RS kit include everything needed to run the servo system, or are additional components required?

The kit contains the three elements most commonly sold separately — motor, drive, and cables — and these are sufficient to operate the servo axis. However, a complete machine installation requires additional components that are not part of the kit: a suitable three-phase 200–230V AC power supply with appropriate circuit breaker and contactor, a 24V DC control power supply for the drive's control circuit, a CN1 control connector and wiring to the host PLC or motion controller, and an earthing conductor sized per the installation's local electrical code. For drives requiring a braking resistor (applications with high-inertia loads or frequent rapid deceleration), an external regenerative braking resistor connects to the drive's B1/B2 terminals. The ASDA-A2 user manual specifies the peripheral component selection for each drive model. First-time commissioning also benefits from Delta's ASDA-Soft software, which is a free download from Delta's website and requires a USB or RS-232 connection to the drive.

Q2: The motor is specified at 2,000 rpm rated speed but 3,000 rpm maximum speed. Can it run continuously at 3,000 rpm?

The 2,000 rpm figure is the rated continuous operating speed — the speed at which the motor delivers its full rated torque of 9.55 N·m within its continuous thermal rating at ambient temperatures up to 40°C. The 3,000 rpm maximum speed represents the upper limit of intermittent operation, where torque capability is reduced from the continuous rated value. Running the motor continuously at 3,000 rpm with full torque loading will cause the motor to exceed its thermal rating and shorten service life. In practice, the drive's parameters allow the maximum speed limit to be set below 3,000 rpm if the application does not require operation above the rated speed. For applications where the full torque is needed at higher speeds, a different motor in the ECMA range with a higher rated speed — such as a 3,000 rpm rated variant — would be the appropriate choice.

Q3: What is the Electronic Cam (E-CAM) function and what machine problems does it solve?

The E-CAM function allows the ASD-A2-2023 drive to synchronize its output shaft position to an external master encoder input according to a programmed cam profile table. The drive reads the master encoder position in real time and moves the motor to the corresponding follower position as defined by the cam table — up to 720 data points defining the relationship between master and follower position. This solves the synchronization problem that arises in machines where one mechanism must move in a defined relationship to another moving component: a knife that must match the speed of a moving web before cutting, a gripper that must synchronize with a conveyor to pick a product without stopping it, or a label applicator that must match the speed of a bottle on a filling line. Traditionally, these applications required a high-speed motion controller to calculate and output synchronized position commands in real time. With E-CAM, the synchronization logic runs inside the drive, and the external PLC only needs to enable and disable the function — dramatically simplifying the controller requirements for synchronized motion applications.

Q4: The motor has no brake. Is that a problem for vertical axes or axes that need to hold position under power loss?

The ECMA-E11320RS is the no-brake variant (designated by the "S" at the relevant position in the motor model number — the brake-equipped version carries a different suffix). For a purely horizontal axis with no gravitational load component, the absence of a brake is not a safety or functional concern — when drive power is removed, dynamic braking brings the motor to a controlled stop, and the axis stays in position by friction once stopped. For vertical axes — Z-axis movements, elevated gantry arms, or any load that would fall under gravity when the drive is de-energized — a holding brake is essential to prevent uncontrolled axis drop on power loss or e-stop. In these applications, the brake-equipped motor variant should be specified. The ECMA series offers a directly equivalent 2.0 kW, 130mm, 2,000 rpm motor with a 24V DC power-off holding brake, retaining the same electrical and mechanical specifications. The brake is not intended for decelerating a rotating motor — it holds a stationary shaft only, and using it as a service brake will cause rapid brake lining wear.

Q5: Can the ECMA-E11320RS be paired with Delta servo drives other than the ASDA-A2 series, such as the ASDA-B2 or ASDA-A3?

The ECMA-E series 130mm motors are designed for compatibility with Delta's 220V ASDA-A2 series drives, and the ECMA-E11320RS is specified and validated for use with the ASD-A2-2023 in the kit. Compatibility with other Delta drive families depends on the drive series. The ASDA-B2 series (Delta's cost-optimized servo platform) supports ECMA-series motors including 130mm variants, but the drive's feature set differs from the A2 — no E-CAM, no PR mode, reduced communication options. Pairing is mechanically and electrically possible but the application must be evaluated for whether the B2's reduced functionality is adequate. The ASDA-A3 series (Delta's current-generation high-performance drive) is backward-compatible with ECMA-series motors and supports the same motor frame sizes and encoder types, offering a performance upgrade path if higher dynamic performance or additional network protocols are required in a future machine revision. Always verify the specific drive-motor combination against Delta's official compatibility tables in the respective drive user manuals before specifying a non-standard pairing, as motor parameter settings must correspond correctly to the motor's actual winding and encoder characteristics.

The Delta ECMA-E11320RS is part of the ECMA series AC servo motor family for use with the ASDA-A2 220V servo drive platform. Always verify peripheral component ratings, grounding requirements, and cable routing against the ASDA-A2 series installation manual before energizing the system. Allow capacitor discharge time before working on drive wiring after power-off.