_Summa ED3L系列脉冲型交流伺服驱动器产品手册-V1.00.pdf

【实例截图】

【核心代码】

目录
前言 ....................................................................................................................................................... i
概述 ................................................................................................................................................................. i
术语与缩写 ..................................................................................................................................................... i
符号约定 ......................................................................................................................................................... i
安全注意事项 .................................................................................................................................... iii
整体注意事项 ............................................................................................................................................... iii
存储及运输时的注意事项 ............................................................................................................................ iv
安装时的注意事项 ....................................................................................................................................... iv
配线时的注意事项 ....................................................................................................................................... iv
运行时的注意事项 ........................................................................................................................................ v
维护时的注意事项 ........................................................................................................................................ v
废弃的注意事项 ............................................................................................................................................ v
目录 .................................................................................................................................................... vi
第 1 章 关于 ED3L ....................................................................................................................... 1-1
1.1 产品特性 .............................................................................................................................................. 1-1
1.2 铭牌信息 .............................................................................................................................................. 1-2
1.3 型号说明 .............................................................................................................................................. 1-2
1.4 部件名称 .............................................................................................................................................. 1-3
1.5 额定值和规格 ...................................................................................................................................... 1-5
1.6 外形尺寸 .............................................................................................................................................. 1-8
1.7 系统构成 .............................................................................................................................................. 1-9
1.8 型号对照表 ........................................................................................................................................ 1-12
第 2 章 安装 ................................................................................................................................... 2-1
2.1 注意事项 .............................................................................................................................................. 2-1
2.2 安装类型与方向 .................................................................................................................................. 2-1
2.3 安装孔尺寸 .......................................................................................................................................... 2-2
2.4 安装间隔 .............................................................................................................................................. 2-2
第 3 章 接线和连接 ....................................................................................................................... 3-1
3.1 接线时的注意事项............................................................................................................................... 3-1
3.1.1 一般注意事项 ................................................................................................................................. 3-1
3.1.2 抗干扰对策 ..................................................................................................................................... 3-2
3.1.3 滤波器推荐 ..................................................................................................................................... 3-4
3.1.4 接地 ................................................................................................................................................. 3-5
3.2 基本连接图 .......................................................................................................................................... 3-6
3.3 驱动器引脚分布 .................................................................................................................................. 3-8
3.4 主回路的连接 .................................................................................................................................... 3-10
3.4.1 端子排列与定义 ........................................................................................................................... 3-10
3.4.2 再生电阻器的接线 ....................................................................................................................... 3-12
Summa ED3L 系列脉冲型交流伺服驱动器产品手册
目录
文档版本 V1.00 (2021-07) 版权所有 © 埃斯顿自动化 2021 vii
3.4.3 接线指导 ....................................................................................................................................... 3-13
3.4.4 电机动力线连接示意图 ............................................................................................................... 3-15
3.4.5 电缆说明 ....................................................................................................................................... 3-15
3.4.6 电源输入配线规格 ....................................................................................................................... 3-19
3.4.7 接线示例 ....................................................................................................................................... 3-19
3.5 电机编码器的连接............................................................................................................................. 3-21
3.5.1 连接示意图 ................................................................................................................................... 3-21
3.5.2 电缆说明 ....................................................................................................................................... 3-21
3.5.3 安装或更换电池 ........................................................................................................................... 3-26
3.6 IO 信号的连接 .................................................................................................................................... 3-27
3.6.1 端子排列 ....................................................................................................................................... 3-27
3.6.2 信号定义 ....................................................................................................................................... 3-27
3.6.3 接线说明 ....................................................................................................................................... 3-29
3.6.4 制动器接线 ................................................................................................................................... 3-30
3.6.5 探针 Touch Probe 接线 ................................................................................................................. 3-31
3.7 与 PC 通信的连接 .............................................................................................................................. 3-32
第 4 章 显示与操作 ..................................................................................................................... 4-33
4.1 操作面板 ............................................................................................................................................ 4-33
4.1.1 面板组成说明 ............................................................................................................................... 4-33
4.1.2 面板显示说明 ............................................................................................................................... 4-34
4.1.3 状态显示模式 ............................................................................................................................... 4-34
4.1.4 参数设定模式 ............................................................................................................................... 4-36
4.1.5 监视模式 ....................................................................................................................................... 4-39
4.1.6 辅助功能模式 ............................................................................................................................... 4-41
4.2 ESView V4 ........................................................................................................................................... 4-47
4.2.1 安装 ESView V4 ........................................................................................................................... 4-47
4.2.2 启用 ESView V4 ........................................................................................................................... 4-53
4.2.3 参数传送 ....................................................................................................................................... 4-56
4.2.4 监视 ............................................................................................................................................... 4-61
第 5 章 功能与设定 ....................................................................................................................... 5-1
5.1 电源设定 .............................................................................................................................................. 5-1
5.2 电机旋转方向的设定 ........................................................................................................................... 5-2
5.3 超程的设定 .......................................................................................................................................... 5-2
5.3.1 功能概述 ......................................................................................................................................... 5-2
5.3.2 超程信号的连接 ............................................................................................................................. 5-3
5.3.3 选择超程防止功能有效/无效 ........................................................................................................ 5-3
5.4 电机停止方式的设定 ........................................................................................................................... 5-3
5.4.1 发生 Gr.1 报警／伺服 OFF 时的电机停止方式 ........................................................................... 5-4
5.4.2 超程时的电机停止方法 ................................................................................................................. 5-4
5.4.3 发生 Gr.2 报警时的电机停止方式 ................................................................................................ 5-4
5.4.4 设定反接制动停止时的转矩限制 ................................................................................................. 5-5
5.5 制动器 .................................................................................................................................................. 5-5
5.5.1 功能概述 ......................................................................................................................................... 5-5
5.5.2 制动器的动作顺序 ......................................................................................................................... 5-5
5.5.3 制动器控制输出(/BK)信号 ............................................................................................................ 5-6
5.5.4 制动器 ON/OFF 的设定(电机停止时) .......................................................................................... 5-7
5.5.5 制动器 ON/OFF 的设定(伺服电机旋转时) .................................................................................. 5-7
5.6 编码器设置 .......................................................................................................................................... 5-8
Summa ED3L 系列脉冲型交流伺服驱动器产品手册
目录
文档版本 V1.00 (2021-07) 版权所有 © 埃斯顿自动化 2021 viii
5.6.1 绝对值编码器的选择 ..................................................................................................................... 5-8
5.6.2 绝对值编码器的报警 ..................................................................................................................... 5-9
5.6.3 旋转圈数上限设定 ......................................................................................................................... 5-9
5.6.4 编码器分频输出 ........................................................................................................................... 5-10
5.7 IO 信号分配 ........................................................................................................................................ 5-11
5.7.1 输入信号分配 ............................................................................................................................... 5-11
5.7.2 输出信号分配 ............................................................................................................................... 5-13
5.8 控制方式的选择 ................................................................................................................................ 5-14
5.9 速度控制 ............................................................................................................................................ 5-15
5.9.1 速度控制的基本设定 ................................................................................................................... 5-15
5.9.2 速度指令偏移的调整 ................................................................................................................... 5-16
5.9.3 软启动设定 ................................................................................................................................... 5-18
5.9.4 零钳位功能 ................................................................................................................................... 5-19
5.9.5 同速检测输出（/VCMP）信号 ................................................................................................... 5-20
5.10 位置控制 .......................................................................................................................................... 5-21
5.10.1 位置控制的基本设定 ................................................................................................................. 5-21
5.10.2 位置偏差清除（/CLR）信号的功能与设定 ............................................................................ 5-24
5.10.3 电子齿轮 ..................................................................................................................................... 5-24
5.10.4 平滑功能的设定 ......................................................................................................................... 5-26
5.10.5 定位完成（/COIN）信号 .......................................................................................................... 5-27
5.10.6 指令脉冲禁止功能 ..................................................................................................................... 5-28
5.11 转矩控制 ........................................................................................................................................... 5-29
5.11.1 转矩控制的基本设定 ................................................................................................................. 5-29
5.11.2 转矩指令偏移的调整 ................................................................................................................. 5-30
5.11.3 转矩指令输入滤波器的设定 ..................................................................................................... 5-32
5.11.4 转矩控制时的速度限制 ............................................................................................................. 5-32
5.11.5 内部转矩接点控制 ..................................................................................................................... 5-34
5.12 内部设定速度控制........................................................................................................................... 5-35
5.12.1 内部设定速度控制的基本设定 ................................................................................................. 5-35
5.12.2 内部设定速度的速度设定 ......................................................................................................... 5-36
5.12.3 通过输入信号切换内部设定速度 ............................................................................................. 5-36
5.12.4 内部设定速度控制的运行示例 ................................................................................................. 5-37
5.13 PCP 控制 ........................................................................................................................................... 5-38
5.13.1 PCP 控制的选择 .......................................................................................................................... 5-38
5.13.2 PCP 控制的参数设定 .................................................................................................................. 5-38
5.13.3 接点命令模式 ............................................................................................................................. 5-41
5.13.4 接点触发 ..................................................................................................................................... 5-42
5.13.5 发生超程时 ................................................................................................................................. 5-42
5.13.6 显示 ............................................................................................................................................. 5-42
5.14 控制方式组合的选择 ....................................................................................................................... 5-42
5.15 转矩限制 .......................................................................................................................................... 5-45
5.15.1 内部转矩限制 ............................................................................................................................. 5-45
5.15.2 外部转矩限制 ............................................................................................................................. 5-45
5.15.3 模拟量指令的转矩限制 ............................................................................................................. 5-47
5.15.4 转矩限制的确认信号 ................................................................................................................. 5-48
5.16 回零操作 .......................................................................................................................................... 5-48
5.16.1 功能概述 ..................................................................................................................................... 5-48
5.16.2 相关参数 ..................................................................................................................................... 5-49
Summa ED3L 系列脉冲型交流伺服驱动器产品手册
目录
文档版本 V1.00 (2021-07) 版权所有 © 埃斯顿自动化 2021 ix
5.16.3 回零方式的选择 ......................................................................................................................... 5-49
5.16.4 回零信号的分配 ......................................................................................................................... 5-50
5.16.5 回零时序 ..................................................................................................................................... 5-50
5.17 其它输出信号 .................................................................................................................................. 5-52
5.17.1 报警输出信号（/ALM） ........................................................................................................... 5-52
5.17.2 移动检出输出信号（/TGON） ................................................................................................. 5-53
5.17.3 伺服准备就绪输出信号（/S-RDY） ........................................................................................ 5-53
第 6 章 CANopen 通信 ............................................................................................................... 6-1
6.1 连接与接线 .......................................................................................................................................... 6-1
6.2 CANopen 概述 ...................................................................................................................................... 6-3
6.2.1 CAN 标识符分配表 ........................................................................................................................ 6-3
6.2.2 服务数据对象 SDO ........................................................................................................................ 6-3
6.2.3 过程数据对象 PDO ........................................................................................................................ 6-5
6.2.4 SYNC 报文 .................................................................................................................................... 6-12
6.2.5 Emergency 报文 ............................................................................................................................. 6-13
6.2.6 HEARTBEAT 报文 ........................................................................................................................ 6-15
6.2.7 网络管理（NMT） ...................................................................................................................... 6-15
6.3 单位换算单元 .................................................................................................................................... 6-17
6.3.1 单位换算相关参数 ....................................................................................................................... 6-17
6.3.2 Position factor ................................................................................................................................ 6-18
6.3.3 Velocity factor ................................................................................................................................ 6-20
6.3.4 Acceleration factor ......................................................................................................................... 6-20
6.4 位置控制功能 .................................................................................................................................... 6-21
6.5 设备控制 ............................................................................................................................................ 6-25
6.5.1 控制状态机 ................................................................................................................................... 6-25
6.5.2 设备控制相关参数 ....................................................................................................................... 6-26
6.5.3 Controlword ................................................................................................................................... 6-27
6.5.4 Statusword ...................................................................................................................................... 6-28
6.5.5 Shutdown_option_code .................................................................................................................. 6-30
6.5.6 Disable_operation_option_code ..................................................................................................... 6-30
6.5.7 Quick_stop_option_code ................................................................................................................ 6-30
6.5.8 Halt_option_code ........................................................................................................................... 6-31
6.5.9 Fault_reaction_option_code ........................................................................................................... 6-31
6.6 控制模式 ............................................................................................................................................ 6-32
6.7 回零模式（HOMING MODE） ....................................................................................................... 6-33
6.7.1 回零模式的控制字 ....................................................................................................................... 6-33
6.7.2 回零模式的状态字 ....................................................................................................................... 6-33
6.7.3 回零模式相关参数 ....................................................................................................................... 6-34
6.7.4 回零方法 ....................................................................................................................................... 6-38
6.8 速度控制模式（PROFILE VELOCITY MODE） ........................................................................... 6-44
6.8.1 速度控制模式流程图 ................................................................................................................... 6-44
6.8.2 速度模式的控制字 ....................................................................................................................... 6-44
6.8.3 速度模式的状态字 ....................................................................................................................... 6-44
6.8.4 速度控制模式相关参数 ............................................................................................................... 6-45
6.9 转矩控制模式（PROFILE TORQUE MODE） ............................................................................... 6-48
6.9.1 转矩控制模式流程图 ................................................................................................................... 6-48
6.9.2 转矩模式的控制字 ....................................................................................................................... 6-48
6.9.3 转矩模式的状态字 ....................................................................................................................... 6-48
6.9.4 转矩控制模式相关参数 ............................................................................................................... 6-49
6.10 位置控制模式（PROFILE POSITION MODE） ........................................................................... 6-51
Summa ED3L 系列脉冲型交流伺服驱动器产品手册
目录
文档版本 V1.00 (2021-07) 版权所有 © 埃斯顿自动化 2021 x
6.10.1 位置控制模式流程图 ................................................................................................................. 6-51
6.10.2 位置模式的控制字 ..................................................................................................................... 6-51
6.10.3 位置模式的状态字 ..................................................................................................................... 6-51
6.10.4 位置控制相关参数 ..................................................................................................................... 6-52
6.10.5 功能描述 ..................................................................................................................................... 6-55
6.11 位置插补控制模式（INTERPLATION POSITION MODE） ....................................................... 6-57
6.11.1 位置插补控制模式流程图 ......................................................................................................... 6-57
6.11.2 位置插补模式的控制字 ............................................................................................................. 6-57
6.11.3 位置插补模式的状态字 ............................................................................................................. 6-57
6.11.4 位置插补控制相关参数 ............................................................................................................. 6-58
6.11.5 功能描述 ..................................................................................................................................... 6-60
6.12 转矩限制功能（Torque limit Function） ........................................................................................ 6-61
6.13 数字量输入输出 .............................................................................................................................. 6-62
6.14 探针 TouchProbe 功能 ..................................................................................................................... 6-63
6.15 伺服软限位功能 .............................................................................................................................. 6-68
第 7 章 试运行 ............................................................................................................................... 7-1
7.1 试运行准备 .......................................................................................................................................... 7-1
7.2 试运行前的检查和注意事项 ............................................................................................................... 7-1
7.3 电机的单体运行 .................................................................................................................................. 7-1
7.3.1 执行前的确认事项 ......................................................................................................................... 7-2
7.3.2 可操作工具 ..................................................................................................................................... 7-2
7.3.3 JOG 操作 ......................................................................................................................................... 7-2
7.4 组合机器和电机的试运行 ................................................................................................................... 7-5
7.4.1 注意事项 ......................................................................................................................................... 7-5
7.4.2 执行前的确认事项 ......................................................................................................................... 7-5
7.4.3 操作步骤 ......................................................................................................................................... 7-5
7.5 PJOG 运行 ............................................................................................................................................. 7-6
7.5.1 执行前的确认事项 ......................................................................................................................... 7-6
7.5.2 操作说明 ......................................................................................................................................... 7-7
7.5.3 相关参数 ......................................................................................................................................... 7-7
7.5.4 可操作工具 ..................................................................................................................................... 7-8
7.5.5 操作步骤 ......................................................................................................................................... 7-8
第 8 章 调谐 ................................................................................................................................... 8-1
8.1 概述 ...................................................................................................................................................... 8-1
8.1.1 基本信息说明 ................................................................................................................................. 8-1
8.1.2 伺服控制框图 ................................................................................................................................. 8-2
8.1.3 调整流程 ......................................................................................................................................... 8-3
8.1.4 注意事项 ......................................................................................................................................... 8-4
8.2 调谐模式 .............................................................................................................................................. 8-4
8.2.1 免调谐 ............................................................................................................................................. 8-4
8.2.2 单参数自动调谐 ............................................................................................................................. 8-5
8.2.3 手动调谐 ......................................................................................................................................... 8-7
8.3 调谐工具 .............................................................................................................................................. 8-9
8.3.2 自动整定工具 ............................................................................................................................... 8-10
8.3.3 手动整定工具 ............................................................................................................................... 8-19
8.4 反馈转速选择 .................................................................................................................................... 8-28
8.5 应用功能 ............................................................................................................................................ 8-29
Summa ED3L 系列脉冲型交流伺服驱动器产品手册
目录
文档版本 V1.00 (2021-07) 版权所有 © 埃斯顿自动化 2021 xi
8.5.1 增益切换 ....................................................................................................................................... 8-29
8.5.2 P/PI 切换 ........................................................................................................................................ 8-31
8.5.3 前馈 ............................................................................................................................................... 8-31
8.5.4 摩擦补偿 ....................................................................................................................................... 8-33
8.5.5 负载转矩补偿 ............................................................................................................................... 8-34
8.5.6 模型跟踪控制 ............................................................................................................................... 8-35
8.6 振动抑制 ............................................................................................................................................ 8-36
8.6.1 陷波滤波器 ................................................................................................................................... 8-36
8.6.2 中频振动抑制 ............................................................................................................................... 8-37
8.6.3 低频振动抑制 ............................................................................................................................... 8-39
8.6.4 自动振动抑制 ............................................................................................................................... 8-40
8.7 分析工具 ............................................................................................................................................ 8-41
8.7.1 负载惯量检测 ............................................................................................................................... 8-41
8.7.2 机械特性分析 ............................................................................................................................... 8-44
8.7.3 FFT ................................................................................................................................................. 8-46
8.7.4 摩擦特性分析 ............................................................................................................................... 8-49
第 9 章 MODBUS 通讯功能 ....................................................................................................... 9-1
9.1 通讯接线 .............................................................................................................................................. 9-1
9.2 通讯参数设定 ...................................................................................................................................... 9-1
9.3 MODBUS 通讯协议 ............................................................................................................................. 9-2
9.3.1 编码含义 ......................................................................................................................................... 9-2
9.3.2 通讯协议结构 ................................................................................................................................. 9-3
9.3.3 通讯出错处理 ................................................................................................................................. 9-7
9.3.4 伺服状态数据通讯地址 ................................................................................................................. 9-8
第 10 章 报警处理 ....................................................................................................................... 10-1
10.1 报警等级说明 .................................................................................................................................. 10-1
10.2 排查方法 .......................................................................................................................................... 10-2
10.2.1 Gr.1 报警 ...................................................................................................................................... 10-2
10.2.2 Gr.2 报警 .................................................................................................................................... 10-12
10.2.3 警告 ........................................................................................................................................... 10-13
第 11 章 伺服参数 ..................................................................................................................... 11-15
11.1 参数表使用说明 ............................................................................................................................. 11-15
11.2 参数详细说明 ................................................................................................................................. 11-16
第 12 章 对象字典速查表 ........................................................................................................... 12-1