目錄
序言
第一章 產(chǎn)品檢查與型號說明
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)動器與電機(jī)機(jī)種名稱對應(yīng)參照表 .............................................................1-5
1.4 伺服驅(qū)動器各部名稱..........................................................................................1-6
1.5 伺服驅(qū)動器操作模式簡介...................................................................................1-7
1.6 漏電流、斷路器與保險絲建議規(guī)格表.........................................................................1-8
第二章 安裝
2.1 注意事項............................................................................................................2-1
2.2 儲存環(huán)境條件.....................................................................................................2-1
2.3 安裝環(huán)境條件.....................................................................................................2-1
2.4 安裝方向與空間.................................................................................................2-2
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)動器的連接器與端口 .............................................................................3-2
3.1.3 電源接線法 ..............................................................................................3-3
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3.1.4 電機(jī)U、V、W引出線的連接器規(guī)格.........................................................3-4
3.1.5 編碼器引出線連接器規(guī)格..........................................................................3-5
3.1.6 線材的選擇...............................................................................................3-6
3.2 伺服系統(tǒng)基本方塊圖..........................................................................................3-8
3.3 CN1 I/O信號接線..............................................................................................3-10
3.3.1 CN1 I/O連接器端口Layout......................................................................3-10
3.3.2 CN1 I/O連接器信號說明...........................................................................3-11
3.3.3 界面接線圖(CN1)......................................................................................3-18
3.3.4 使用者指定DI與DO信號........................................................................3-22
3.4 CN2編碼器信號接線.........................................................................................3-24
3.5 CN3通訊口信號接線.........................................................................................3-25
3.5.1 CN3通訊口端口 Layout............................................................................3-25
3.5.2 CN3通訊口與個人計算機(jī)和 KEYPAD之連接方式....................................3-26
3.6 標(biāo)準(zhǔn)接線方式.....................................................................................................3-27
3.6.1 位置（Pt）模式標(biāo)準(zhǔn)接線..........................................................................3-27
3.6.2 位置（Pr）模式標(biāo)準(zhǔn)接線..........................................................................3-28
3.6.3 速度模式標(biāo)準(zhǔn)接線.....................................................................................3-29
3.6.4 扭矩模式標(biāo)準(zhǔn)接線.....................................................................................3-30
第四章 面板顯示及操作
4.1 面板各部名稱.....................................................................................................4-1
4.2 參數(shù)設(shè)定流程.....................................................................................................4-2
4.3 狀態(tài)顯示............................................................................................................4-3
4.3.1 儲存設(shè)定顯示............................................................................................4-3
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4.3.2 放棄設(shè)定顯示............................................................................................4-3
4.3.3 警示信息顯示............................................................................................4-3
4.3.4 正負(fù)號設(shè)定顯示........................................................................................4-3
4.3.5 監(jiān)控顯示...................................................................................................4-4
4.4 一般功能操作.....................................................................................................4-5
4.4.1 異常狀態(tài)記錄顯示操作 .............................................................................4-5
4.4.2 寸動模式操作............................................................................................4-5
4.4.3 位置指令教導(dǎo)操作.....................................................................................4-6
4.4.4 強(qiáng)制數(shù)字輸出操作.....................................................................................4-8
4.4.5 數(shù)字輸入診斷操作.....................................................................................4-8
4.4.6 數(shù)字輸出診斷操作.....................................................................................4-9
第五章 試轉(zhuǎn)操作
5.1 無負(fù)載檢測........................................................................................................5-1
5.2 驅(qū)動器送電........................................................................................................5-2
5.3 空載JOG測試...................................................................................................5-6
5.4 空載的速度測試.................................................................................................5-7
5.5 空載的定位測試.................................................................................................5-9
5.6 調(diào)機(jī)步驟............................................................................................................5-12
5.6.1 調(diào)機(jī)步驟流程圖........................................................................................5-13
5.6.2 結(jié)合機(jī)構(gòu)的初步慣量估測流程圖...............................................................5-13
5.6.3 簡易模式調(diào)機(jī)流程圖.................................................................................5-15
5.6.4 PI自動增益模式調(diào)機(jī)流程圖......................................................................5-17
5.6.5 PDFF自動增益模式調(diào)機(jī)流程圖................................................................5-18
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5.6.6 負(fù)載慣量估測的限制.................................................................................5-19
5.6.7 增益調(diào)整模式與參數(shù)的關(guān)系......................................................................5-19
5.6.8 手動增益參數(shù)調(diào)整.....................................................................................5-20
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 Pt模式位置指令........................................................................................6-2
6.2.2 Pr模式位置指令 .......................................................................................6-4
6.2.3 位置模式控制架構(gòu).....................................................................................6-5
6.2.4 位置S型平滑器........................................................................................6-6
6.2.5 電子齒輪比...............................................................................................6-7
6.2.6 低通濾波器...............................................................................................6-8
6.2.7 位置模式（Pr）時序圖 .............................................................................6-8
6.2.8 位置回路增益調(diào)整.....................................................................................6-9
6.3 速度模式............................................................................................................6-11
6.3.1 速度指令的選擇........................................................................................6-11
6.3.2 速度模式控制架構(gòu).....................................................................................6-12
6.3.3 速度指令的平滑處理.................................................................................6-13
6.3.4 仿真指令端比例器.....................................................................................6-15
6.3.5 速度模式時序圖........................................................................................6-16
6.3.6 速度回路增益調(diào)整.....................................................................................6-17
6.3.7 共振抑制單元............................................................................................6-22
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6.4 扭矩模式............................................................................................................6-25
6.4.1 扭矩指令的選擇........................................................................................6-25
6.4.2 扭矩模式控制架構(gòu).....................................................................................6-26
6.4.3 扭矩指令的平滑處理.................................................................................6-26
6.4.4 仿真指令端比例器.....................................................................................6-27
6.4.5 扭矩模式時序圖........................................................................................6-28
6.5 混合模式............................................................................................................6-29