台达伺服ASDA-B2使用手册(简体最新).pdf

【实例截图】

【核心代码】

目录
第一章 产品检查与型号说明
1.1 产品检查 ........................................................................................................ 1-1
1.2 产品型号对照 ................................................................................................ 1-2
1.2.1 铭牌说明 ............................................................................................... 1-2
1.2.2 型号说明 ............................................................................................... 1-3
1.3 伺服驱动器与电机机种名称对应参照表 .......................................................... 1-5
1.4 伺服驱动器各部名称 ...................................................................................... 1-6
1.5 伺服驱动器操作模式简介 ............................................................................... 1-7
第二章 安装
2.1 注意事项 ........................................................................................................ 2-1
2.2 储存环境条件 ................................................................................................. 2-1
2.3 安装环境条件 ................................................................................................. 2-2
2.4 安装方向与空间 ............................................................................................. 2-3
2.5 断路器与保险丝建议规格表 ........................................................................... 2-5
2.6 电磁干扰滤波器（ EMI Filters ）选型 .............................................................. 2-5
2.7 回生电阻的选择方法 ...................................................................................... 2-9
第三章 配线
3.1 外围装置与主电源回路连接 ........................................................................... 3-1
3.1.1 外围装置接线图 .................................................................................... 3-1
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3.1.2 驱动器的连接器与端子 .......................................................................... 3-3
3.1.3 电源接线法 ........................................................................................... 3-4
3.1.4 电机 U、V、W 引出线的连接器规格 ..................................................... 3-5
3.1.5 编码器引出线的连接器规格 ................................................................... 3-7
3.1.6 线材的选择 ............................................................................................ 3-8
3.2 伺服系统基本方块图 ...................................................................................... 3-10
3.2.1 400W （含）以下机种（无内含再生电阻） ........................................... 3-10
3.2.2 750W 机种（内含再生电阻，无风扇） ................................................. 3-11
3.2.3 1kW ~ 1.5kW 机种（内含再生电阻和风扇） ......................................... 3-12
3.2.4 2kW ~ 3kW 机种（内含再生电阻和风扇） ............................................ 3-13
3.3 CN1 I/O 信号接线 .......................................................................................... 3-14
3.3.1 CN1 I/O 连接器端子 Layout.................................................................. 3-14
3.3.2 CN1 I/O 连接器信号说明 ....................................................................... 3-16
3.3.3 接口接线图（ CN1） ............................................................................. 3-23
3.3.4 使用者指定 DI 与 DO 信号..................................................................... 3-28
3.4 CN2 编码器信号接线 ..................................................................................... 3-29
3.5 CN3 通讯口信号接线 ..................................................................................... 3-31
3.5.1 CN3 通讯口端子 Layout........................................................................ 3-31
3.6 标准接线方式 ................................................................................................. 3-32
3.6.1 位置（ Pt）模式标准接线 ...................................................................... 3-32
3.6.2 速度模式标准接线 ................................................................................. 3-33
3.6.3 扭矩模式标准接线 ................................................................................. 3-34
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第四章 面板显示及操作
4.1 面板各部名称 ................................................................................................. 4-1
4.2 参数设置流程 ................................................................................................. 4-2
4.3 状态显示 ........................................................................................................ 4-3
4.3.1 储存设定显示 ........................................................................................ 4-3
4.3.2 小数点显示 ............................................................................................ 4-3
4.3.3 警示信息显示 ........................................................................................ 4-3
4.3.4 正负号设定显示 .................................................................................... 4-3
4.3.5 监控显示 ............................................................................................... 4-4
4.4 一般功能操作 ................................................................................................. 4-6
4.4.1 异常状态记录显示操作 .......................................................................... 4-6
4.4.2 寸动模式操作 ........................................................................................ 4-7
4.4.3 强制数字输出操作 ................................................................................. 4-8
4.4.4 数字输入诊断操作 ................................................................................. 4-9
4.4.5 数字输出诊断操作 ................................................................................. 4-9
第五章 试转操作与调机步骤
5.1 无负载检测 .................................................................................................... 5-1
5.2 驱动器送电 .................................................................................................... 5-2
5.3 空载 JOG 测试 ............................................................................................... 5-6
5.4 空载的速度测试 ............................................................................................. 5-7
5.5 调机步骤 ........................................................................................................ 5-9
5.5.1 调机步骤流程图 .................................................................................... 5-10
5.5.2 结合机构的初步惯量估测流程图 ........................................................... 5-11
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5.5.3 自动模式调机流程图 ............................................................................. 5-12
5.5.4 半自动增益模式调机流程图 ................................................................... 5-13
5.5.5 负载惯量估测的限制 ............................................................................. 5-14
5.5.6 机械共振的处理 .................................................................................... 5-16
5.5.7 增益调整模式与参数的关系 ................................................................... 5-17
5.5.8 手动增益参数调整 ................................................................................. 5-18
第六章 控制功能
6.1 操作模式选择 ................................................................................................. 6-1
6.2 位置模式 ........................................................................................................ 6-3
6.2.1 Pt 模式位置命令 .................................................................................... 6-3
6.2.2 位置模式控制架构 ................................................................................. 6-5
6.2.3 电子齿轮比 ............................................................................................ 6-6
6.2.4 低通滤波器 ............................................................................................ 6-8
6.2.5 位置回路增益调整 ................................................................................. 6-8
6.3 速度模式 ........................................................................................................ 6-11
6.3.1 速度命令的选择 .................................................................................... 6-11
6.3.2 速度模式控制架构 ................................................................................. 6-12
6.3.3 速度命令的平滑处理 ............................................................................. 6-13
6.3.4 模拟命令端比例器 ................................................................................. 6-16
6.3.5 速度模式时序图 .................................................................................... 6-17
6.3.6 速度回路增益调整 ................................................................................. 6-17
6.3.7 共振抑制单元 ........................................................................................ 6-22
6.4 扭矩模式 ........................................................................................................ 6-29
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6.4.1 扭矩命令的选择 .................................................................................... 6-29
6.4.2 扭矩模式控制架构 ................................................................................. 6-30
6.4.3 扭矩命令的平滑处理 ............................................................................. 6-31
6.4.4 模拟命令端比例器 ................................................................................. 6-31
6.4.5 扭矩模式时序图 .................................................................................... 6-32
6.5 混合模式 ........................................................................................................ 6-33
6.5.1 速度／位置混合模式 ............................................................................. 6-33
6.5.2 速度／扭矩混合模式 ............................................................................. 6-34
6.5.3 扭矩／位置混合模式 ............................................................................. 6-34
6.6 其他 ............................................................................................................... 6-35
6.6.1 速度限制的使用 .................................................................................... 6-35
6.6.2 扭矩限制的使用 .................................................................................... 6-35
6.6.3 模拟监视 ............................................................................................... 6-36
6.6.4 电磁刹车的使用 .................................................................................... 6-38
第七章 参数与功能
7.1 参数定义 ........................................................................................................ 7-1
7.2 参数一览表 .................................................................................................... 7-2
7.3 参数说明 ........................................................................................................ 7-12
P0-xx 监控参数 ............................................................................................... 7-12
P1-xx 基本参数 ............................................................................................... 7-20
P2-xx 扩展参数 ............................................................................................... 7-39
P3-xx 通讯参数 ............................................................................................... 7-60
P4-xx 诊断参数 ............................................................................................... 7-64
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表 7.1 数据输入（ DI）功能定义表 ................................................................... 7-72
表 7.2 数据输出（ DO）功能定义表 ................................................................. 7-76
第八章 通讯功能
8.1 RS-485 、RS-232 通讯硬件接口 .................................................................... 8-1
8.2 RS-485 、RS-232 通讯端口参数 .................................................................... 8-4
8.3 MODBUS 通讯协议 ........................................................................................ 8-8
8.4 通讯参数的写入与读出 ................................................................................... 8-16
第九章 异警排除
10.1 驱动器异警一览表 .......................................................................................... 10-1
10.2 异警原因与处置 ............................................................................................. 10-3
10.3 发生异常后解决异警的方法 ........................................................................... 10-10
第十章 规格
11.1 伺服驱动器标准规格（ ASDA-B2 系列） ........................................................ 11-1
11.2 伺服电机标准规格（ ECMA 系列） ................................................................ 11-3
11.3 扭矩特性（ T-N 曲线） ................................................................................... 11-7
11.4 过负载的特性 ................................................................................................. 11-8
11.5 伺服驱动器外型尺寸 ...................................................................................... 11-10
11.6 伺服电机外型尺寸 .......................................................................................... 11-14
附录 A 配件
附录 B 基本检测与保养