台达 ASDA B2 伺服驱动器用户使用操作手册中文高清完整版 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 .....................................................................................2-7
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
3.1.2 驱动器的连接器与端子.........................................................................3-3
3.1.3 电源接线法 ..........................................................................................3-5
3.1.4 电机 U、V、W 引出线的连接头规格....................................................3-7
3.1.5 编码器引出线的连接头规格..................................................................3-9
3.1.6 线材的选择...........................................................................................3-13
3.2 伺服系统基本方块图 .....................................................................................3-15
3.2.1 400W（含）以下机种（无内含回生电阻） ..........................................3-15
3.2.2 750W 机种（内含回生电阻，无风扇） ................................................3-16
3.2.3 1kW ~ 1.5kW 机种（内含回生电阻和风扇）........................................3-17
3.2.4 2kW ~ 3kW 机种（内含回生电阻和风扇）...........................................3-18
3.3 CN1 I/O 信号接线.........................................................................................3-19
3.3.1 CN1 I/O 连接器端子Layout .................................................................3-19
3.3.2 CN1 I/O 连接器信号说明......................................................................3-21
3.3.3 界面接线图（CN1） ............................................................................3-28
3.3.4 用户指定 DI 与DO 信号.......................................................................3-35
3.4 CN2 编码器信号接线....................................................................................3-36
3.5 CN3 通讯端口信号接线.................................................................................3-39
3.6 CN5 模拟电压输出端子................................................................................3-40
3.7 标准接线方式................................................................................................3-41
3.7.1 位置（PT）模式标准接线....................................................................3-41
3.7.2 速度模式标准接线................................................................................3-42
3.7.3 扭矩模式标准接线................................................................................3-43
第四章 面板显示及操作
4.1 面板各部名称................................................................................................4-1
4.2 参数设定流程................................................................................................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....................................................................................................5-3
5.3 空载 JOG 测试..............................................................................................5-7
5.4 空载的速度测试 ............................................................................................5-8
5.5 调机步骤 .......................................................................................................5-10
5.5.1 调机步骤流程图 ...................................................................................5-11
5.5.2 结合机构的初步惯量估测流程图 ..........................................................5-12
5.5.3 自动模式调机流程图 ............................................................................5-13
5.5.4 半自动增益模式调机流程图..................................................................5-14
5.5.5 负载惯量估测的限制 ............................................................................5-15
5.5.6 机械共振的处理...................................................................................5-17
5.5.7 增益调整模式与参数的关系..................................................................5-18
5.5.8 手动增益参数调整................................................................................5-19
第六章 控制机能
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................................................................................6-6
6.2.3 电子齿轮比...........................................................................................6-7
6.2.4 低通滤波器...........................................................................................6-9
6.2.5 位置回路增益调整................................................................................6-9
6.3 速度模式 .......................................................................................................6-12
6.3.1 速度命令的选择 ...................................................................................6-12
6.3.2 速度模式控制架构................................................................................6-13
6.3.3 速度命令的平滑处理 ............................................................................6-14
6.3.4 模拟命令端比例器................................................................................6-17
6.3.5 速度模式时序图 ...................................................................................6-19
6.3.6 速度回路增益调整................................................................................6-19
6.3.7 共振抑制单元 .......................................................................................6-26
6.4 扭矩模式 .......................................................................................................6-34
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6.4.1 扭矩命令的选择 ...................................................................................6-34
6.4.2 扭矩模式控制架构................................................................................6-35
6.4.3 扭矩命令的平滑处理 ............................................................................6-36
6.4.4 模拟命令端比例器................................................................................6-36
6.4.5 扭矩模式时序图 ...................................................................................6-38
6.5 混合模式 .......................................................................................................6-39
6.5.1 速度／位置混合模式 ............................................................................6-39
6.5.2 速度／扭矩混合模式 ............................................................................6-40
6.5.3 扭矩／位置混合模式 ............................................................................6-40
6.6 其他 ..............................................................................................................6-41
6.6.1 速度限制的使用 ...................................................................................6-41
6.6.2 扭矩限制的使用 ...................................................................................6-41
6.6.3 模拟监视 ..............................................................................................6-42
6.6.4 电磁刹车的使用 ...................................................................................6-47
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..............................................................................................7-23
P2-xx 扩充参数..............................................................................................7-52
P3-xx 通讯参数..............................................................................................7-82
P4-xx 诊断参数..............................................................................................7-88
表7.1 数字输入（DI）功能定义表..................................................................7-99
表 7.2 数字输出（DO）功能定义表................................................................7-104
第八章 通讯机能
8.1 RS-485 / RS-232 通讯硬件接口....................................................................8-1
8.2 RS-485 / RS-232 通讯参数设定....................................................................8-3
8.3 MODBUS 通讯协议.......................................................................................8-6
8.4 通讯参数的写入与读出..................................................................................8-17
第九章 异警排除
9.1 驱动器异警一览表.........................................................................................9-1
9.2 异警原因与处置 ............................................................................................9-3
9.3 发生异常后解决异警之方法...........................................................................9-12
第十章 规格
10.1 伺服驱动器标准规格（ASDA-B2 系列）.......................................................10-1
10.2 伺服电机标准规格（ECMA 系列） ...............................................................10-4
10.3 转矩特性（T-N 曲线） ..................................................................................10-8
10.4 过负载之特性................................................................................................10-9
10.5 伺服驱动器外型尺寸 .....................................................................................10-11
10.6 伺服电机外型尺寸.........................................................................................10-15
附录A 配件
附录B 基本检测与保养
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