序言
感謝您使用本產(chǎn)品，本使用操作手冊提供ASDA-B 系列伺服驅(qū)動(dòng)器與ECMA 系列伺服電機(jī)
的相關(guān)信息。內(nèi)容包括：
􀁺 伺服驅(qū)動(dòng)器和伺服電機(jī)的安裝與檢查
􀁺 伺服驅(qū)動(dòng)器的組成說明
􀁺 試運(yùn)行操作的步驟
􀁺 伺服驅(qū)動(dòng)器的控制功能介紹與調(diào)整方法
􀁺 所有參數(shù)說明
􀁺 通訊協(xié)議說明
􀁺 檢測與保養(yǎng)
􀁺 異常排除
􀁺 應(yīng)用實(shí)例解說
本使用操作手冊適合下列使用者參考：
􀁺 伺服系統(tǒng)設(shè)計(jì)者
􀁺 安裝或配線人員
􀁺 試運(yùn)行調(diào)機(jī)人員
􀁺 維護(hù)或檢查人員
在使用之前，請您仔細(xì)詳讀本手冊以確保使用上的正確。此外，請將它妥善放置在安全的地
點(diǎn)以便隨時(shí)查閱。下列在您尚未讀完本手冊時(shí)，務(wù)必遵守事項(xiàng)：
􀁺 安裝的環(huán)境必須沒有水氣，腐蝕性氣體與可燃性氣體。
􀁺 接線時(shí)，禁止將三相電源接至電機(jī)U、V、W的連接器，因?yàn)橐坏┙渝e(cuò)時(shí)將損壞伺
服驅(qū)動(dòng)器。
􀁺 必須確保接地良好。
􀁺 在通電時(shí)，請勿拆解驅(qū)動(dòng)器、電機(jī)或更改配線。
􀁺 在通電運(yùn)作前，請確定緊急停機(jī)裝置是否能隨時(shí)啟動(dòng)。
􀁺 在通電運(yùn)作時(shí)，請勿接觸散熱片，以免燙傷。
如果您在使用上仍有問題，請咨詢經(jīng)銷商或者本公司客服中心。

目錄
第一章 產(chǎn)品檢查與型號說明
序言............................................................................................................................ i
1.1 產(chǎn)品檢查............................................................................................................ 1-1
1.2 產(chǎn)品型號對照 .................................................................................................... 1-3
1.2.1 銘牌說明................................................................................................... 1-3
1.2.2 型號說明................................................................................................... 1-4
1.3 伺服驅(qū)動(dòng)器與電機(jī)機(jī)種名稱對應(yīng)參照表............................................................. 1-6
1.4 伺服驅(qū)動(dòng)器各部名稱.......................................................................................... 1-7
1.5 伺服驅(qū)動(dòng)器操作模式簡介................................................................................... 1-8
第二章 安裝
2.1 注意事項(xiàng)............................................................................................................ 2-1
2.2 儲(chǔ)存環(huán)境條件..................................................................................................... 2-1
2.3 安裝環(huán)境條件..................................................................................................... 2-2
2.4 安裝方向與空間................................................................................................. 2-3
第三章 配線
3.1 外圍裝置與主電源回路連接............................................................................... 3-1
3.1.1 外圍裝置接線圖........................................................................................ 3-1
3.1.2 驅(qū)動(dòng)器的連接器與端子............................................................................. 3-2
3.1.3 電源接線法 .............................................................................................. 3-3
3.1.4 電機(jī)U、V、W引出線的連接器規(guī)格......................................................... 3-4
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
3.1.5 編碼器引出線連接器規(guī)格.......................................................................... 3-6
3.1.6 線材的選擇............................................................................................... 3-7
3.2 伺服系統(tǒng)基本方塊圖.......................................................................................... 3-9
3.3 CN1 I/O 信號接線.............................................................................................. 3-12
3.3.1 CN1 I/O 連接器端子Layout ...................................................................... 3-12
3.3.2 CN1 I/O 連接器信號說明........................................................................... 3-13
3.3.3 使用者指定DI 與DO 信號........................................................................ 3-17
3.3.4 界面接線圖（CN1） ................................................................................. 3-19
3.4 CN2 編碼器信號接線......................................................................................... 3-23
3.5 CN3 通訊口信號接線......................................................................................... 3-24
3.5.1 CN3 通訊口端子Layout............................................................................ 3-24
3.5.2 CN3 通訊口與個(gè)人計(jì)算器和KEYPAD 的連接方式.................................... 3-25
3.6 標(biāo)準(zhǔn)接線方式..................................................................................................... 3-26
3.6.1 位置模式標(biāo)準(zhǔn)接線..................................................................................... 3-26
3.6.2 速度模式標(biāo)準(zhǔn)接線..................................................................................... 3-27
3.6.3 扭矩模式標(biāo)準(zhǔn)接線..................................................................................... 3-28
第四章 數(shù)字操作器面板顯示與操作
4.1 ASD-PU-01A ..................................................................................................... 4-1
4.1.1 ASD-PU-01A 面板各部名稱...................................................................... 4-1
4.1.2 參數(shù)設(shè)定流程............................................................................................ 4-3
狀態(tài)監(jiān)控（監(jiān)控模式）與參數(shù)編輯（參數(shù)模式） ...................................... 4-3
參數(shù)儲(chǔ)存至數(shù)字操作器（儲(chǔ)存模式SAVE ） ............................................... 4-4
參數(shù)寫出至數(shù)字操作器（寫出模式WRITE ） ............................................... 4-5
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
數(shù)字操作器特定功能（快速模式Fast Edi t ）................................................... 4-6
4.1.3 狀態(tài)顯示................................................................................................... 4-7
儲(chǔ)存設(shè)定顯示............................................................................................ 4-7
放棄設(shè)定顯示............................................................................................ 4-7
警示信息顯示............................................................................................ 4-7
正負(fù)號設(shè)定顯示........................................................................................ 4-8
監(jiān)控顯示................................................................................................... 4-8
4.1.4 異常狀態(tài)記錄顯示操作............................................................................. 4-10
4.1.5 寸動(dòng)模式操作............................................................................................ 4-11
4.1.6 強(qiáng)制數(shù)字輸出操作..................................................................................... 4-12
4.1.7 數(shù)字輸入診斷操作..................................................................................... 4-13
4.1.8 數(shù)字輸出診斷操作..................................................................................... 4-13
4.1.9 參數(shù)上傳與下載........................................................................................ 4-14
4.2 ASD-PU-01B ..................................................................................................... 4-15
4.2.1 ASD-PU-01B 面板各部名稱...................................................................... 4-15
4.2.2 參數(shù)設(shè)定流程............................................................................................ 4-16
狀態(tài)監(jiān)控（監(jiān)控模式）與參數(shù)編輯（參數(shù)模式） ...................................... 4-16
參數(shù)儲(chǔ)存至數(shù)字操作器（儲(chǔ)存模式） ......................................... 4-17
參數(shù)寫出至數(shù)字操作器（寫出模式） ........................................ 4-18
數(shù)字操作器特定功能（快速模式）............................................ 4-19
數(shù)字操作器特定功能（動(dòng)態(tài)自動(dòng)增益）..................................... 4-20
數(shù)字操作器特定功能（靜態(tài)自動(dòng)增益） .................................... 4-21
4.2.3 狀態(tài)顯示................................................................................................... 4-22
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
儲(chǔ)存設(shè)定顯示............................................................................................ 4-22
放棄設(shè)定顯示............................................................................................ 4-22
警示信息顯示............................................................................................ 4-22
正負(fù)號設(shè)定顯示........................................................................................ 4-23
監(jiān)控顯示................................................................................................... 4-23
4.2.4 異常狀態(tài)記錄顯示操作............................................................................. 4-25
4.2.5 寸動(dòng)模式操作............................................................................................ 4-26
4.2.6 強(qiáng)制數(shù)字輸出操作..................................................................................... 4-27
4.2.7 數(shù)字輸入診斷操作..................................................................................... 4-28
4.2.8 數(shù)字輸出診斷操作..................................................................................... 4-29
4.2.9 參數(shù)上傳與下載........................................................................................ 4-30
第五章 試轉(zhuǎn)操作
5.1 無負(fù)載檢測........................................................................................................ 5-1
5.2 驅(qū)動(dòng)器送電........................................................................................................ 5-3
5.3 空載JOG 測試................................................................................................... 5-7
5.3.1 ASD-PU-01A 操作流程............................................................................... 5-7
5.3.2 ASD-PU-01B 操作流程............................................................................... 5-8
5.4 空載的速度測試................................................................................................. 5-9
5.5 調(diào)機(jī)步驟............................................................................................................ 5-11
5.5.1 調(diào)機(jī)步驟流程圖........................................................................................ 5-14
5.5.2 結(jié)合機(jī)構(gòu)的初步慣量估測流程圖............................................................... 5-15
5.5.3 PI 自動(dòng)增益模式調(diào)機(jī)流程圖...................................................................... 5-16
5.5.4 PDFF 自動(dòng)增益模式調(diào)機(jī)流程圖................................................................ 5-18
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
5.5.5 負(fù)載慣量估測的限制................................................................................. 5-19
5.5.6 增益調(diào)整模式與參數(shù)的關(guān)系...................................................................... 5-20
5.5.7 手動(dòng)增益參數(shù)調(diào)整..................................................................................... 5-21
第六章 控制功能
6.1 操作模式選擇..................................................................................................... 6-1
6.2 位置模式............................................................................................................ 6-2
6.2.1 P 模式位置命令......................................................................................... 6-2
6.2.2 位置模式控制架構(gòu)..................................................................................... 6-3
6.2.3 脈沖指令禁止功能（INHIBIT）................................................................. 6-4
6.2.4 電子齒輪比............................................................................................... 6-4
6.2.5 低通濾波器............................................................................................... 6-6
6.2.6 位置回路增益調(diào)整..................................................................................... 6-6
6.3 速度模式............................................................................................................ 6-9
6.3.1 速度命令的選擇........................................................................................ 6-9
6.3.2 速度模式控制架構(gòu)..................................................................................... 6-10
6.3.3 速度命令的平滑處理................................................................................. 6-11
6.3.4 模擬命令端比例器..................................................................................... 6-13
6.3.5 速度模式時(shí)序圖........................................................................................ 6-14
6.3.6 速度回路增益調(diào)整..................................................................................... 6-15
6.3.7 共振抑制單元............................................................................................ 6-21
6.4 扭矩模式............................................................................................................ 6-24
6.4.1 扭矩命令的選擇........................................................................................ 6-24
6.4.2 扭矩模式控制架構(gòu)..................................................................................... 6-25
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
6.4.3 扭矩命令的平滑處理................................................................................. 6-26
6.4.4 模擬命令端比例器..................................................................................... 6-26
6.4.5 扭矩模式時(shí)序圖........................................................................................ 6-27
6.5 混合模式............................................................................................................ 6-28
6.5.1 速度／位置混合模式 (S-P)........................................................................ 6-28
6.5.2 速度／扭矩混合模式 (S-T) ........................................................................ 6-29
6.5.3 扭矩／位置混合模式 (T-P) ........................................................................ 6-29
6.6 其它................................................................................................................... 6-30
6.6.1 速度限制的使用........................................................................................ 6-30
6.6.2 扭矩限制的使用........................................................................................ 6-30
6.6.3 回生電阻的選擇方法................................................................................. 6-31
6.6.4 電磁剎車的使用........................................................................................ 6-35
第七章 參數(shù)與功能
7.1 參數(shù)定義............................................................................................................ 7-1
7.2 參數(shù)一覽表........................................................................................................ 7-2
7.2.1 驅(qū)動(dòng)器參數(shù)............................................................................................... 7-2
7.2.2 數(shù)字操作器參數(shù)........................................................................................ 7-8
7.3 參數(shù)說明............................................................................................................ 7-9
7.3.1 驅(qū)動(dòng)器參數(shù)群............................................................................................ 7-9
7.3.2 數(shù)字操作器參數(shù)群..................................................................................... 7-49
表7.1 數(shù)字輸入（DI）功能定義表........................................................... 7-54
表7.2 數(shù)字輸出（DO）功能定義表......................................................... 7-59
第八章 通訊功能
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
8.1 RS-232、RS-485 通訊硬件界面........................................................................ 8-1
8.1.1 RS-232 ..................................................................................................... 8-1
8.1.2 RS-485 ..................................................................................................... 8-2
8.2 RS-232、RS-485 通訊口參數(shù)............................................................................ 8-4
8.3 MODBUS 通訊協(xié)議........................................................................................... 8-7
8.3.1 編碼意義................................................................................................... 8-7
8.3.2 字符結(jié)構(gòu)................................................................................................... 8-7
8.3.3 通訊數(shù)據(jù)結(jié)構(gòu)............................................................................................ 8-9
8.3.4 通訊相關(guān)錯(cuò)誤代碼..................................................................................... 8-14
第九章 基本檢測與保養(yǎng)
9.1 基本檢測............................................................................................................ 9-1
9.2 保養(yǎng)................................................................................................................... 9-3
9.3 機(jī)件使用壽命..................................................................................................... 9-3
第十章 異警排除
10.1 異警一覽表........................................................................................................ 10-1
10.2 異警原因與處置................................................................................................. 10-3
10.3 排除異常后消除異警信號的方法...................................................................... 10-12
第十一章 規(guī)格
11.1 伺服驅(qū)動(dòng)器標(biāo)準(zhǔn)規(guī)格（ASDA-B 系列）.............................................................. 11-1
11.2 伺服電機(jī)標(biāo)準(zhǔn)規(guī)格（ECMA 系列） .................................................................... 11-4
11.3 伺服驅(qū)動(dòng)器外型尺寸.......................................................................................... 11-8
11.4 伺服驅(qū)動(dòng)器轉(zhuǎn)矩特性（T-N 曲線） ....................................................................11-11
11.5 過負(fù)載的特性....................................................................................................11-12
目錄|ASDA-B 系列
Revision July 10, 2007, Doc. Name: 2006PDD23000002
11.6 伺服電機(jī)外型尺寸.............................................................................................11-20
11.7 電磁干擾濾波器（EMI Filter）選型...................................................................11-23
第十二章 應(yīng)用例說明
12.1 ASDA-B 系列搭配DVP-EH 及DOP-A 應(yīng)用......................................................12-1
12.2 ASDA-B 系列搭配DVP-EH 及TP04 應(yīng)用........................................................ 12-12
12.3 ASDA-B 系列伺服驅(qū)動(dòng)器與其它廠牌PLC 搭配接線........................................ 12-15
附錄A 配件

臺(tái)達(dá)交流伺服啟動(dòng)器ASDA-B系列樣本.rar