Tuning ASDA Series Servo Systems

台达运动控制应用例目录第1章单轴运动.........................................................................1-11.1原点回归模式...................................................................1-11.2自行规划多段变速度...........................................................1-81.3台达ASDA伺服简单定位展示系统........................................1-161.4手摇轮跟随模式（一）......................................................1-231.5手摇轮跟随模式（二）......................................................1-291.6手摇轮跟随模式（三）......................................................1-35第2章电子凸轮.........................................................................2-12.1电子凸轮（一）–周期性单轴凸轮...........................................2-12.2电子凸轮（二）-非周期性单轴凸轮.......................................2-122.3电子凸轮(三)-多轴凸轮.....................................................2-252.4绕线机应用....................................................................2-322.5电子凸轮应用–旋切控制....................................................2-412.6电子凸轮应用–追剪控制(Fly saw)......................................2-53第3章G-Code应用...................................................................3-13.1G–Code应用-三轴同动绘出Delta LOGO...............................3-13.2M Code应用...................................................................3-63.3GNC载应用-使用PMSoft汇入G-Code.................................3-103.4GNC应用-PMGDL软件下载（一般模式）..............................3-143.5GNC应用-PMGDL软件下载（DNC模式）.............................3-223.6GNC应用-使用D Register转G码 ASCII格式下载..................3-283.7GNC应用-使用HMI配方方式透过 USB Disk下载...................3-383.8点胶模式.......................................................................3-49第4章其它应用.........................................................................4-14.1中断应用.........................................................................4-14.2计数器应用......................................................................4-64.3定时器应用....................................................................4-134.4以20PM作为从机应用.....................................................4-16i4.5PWM应用-水闸门控制程序................................................4-194.6高速比较应用.................................................................4-224.7高速捕捉应用.................................................................4-284.8制袋机应用－单段速外部触发模式........................................4-334.9PID应用......................................................................4-38 ii目录1.1 原点回归模式1.2 自行规划多段变速度1.3 台达ASDA伺服简单定位展示系统1.4 手摇轮跟随模式（一）1.5 手摇轮跟随模式（二）1.6 手摇轮跟随模式（三）1-1第1章 单轴运动1-1 1.1 原点回归模式20PM 位置控制与伺服驱动系统系统架构图【范例说明】1. 启动原点回归模式时，不同的启动位置其行走的路径也不同，以原点回归方向正转为例，其行走路径如下图所示：2. 20PM 的原点回归模式的设定参数D1816+80*N( N=0~2 )如以下所示：原点回归方向：原点回归方向可分为正转和反转。

作为中国整厂自动化第一品牌，拓斯达专注于高端智能装备，主张 的品牌价值，即随着技术不断进步与突破，用智能系统替代人工，开拓可替代的应用领域，推动产业进步助力企业发展，同时把制造业从劳动密集型带入完全的自动化，回归到自然，人性，和谐的状态。

新出现的文明与传统的旧工业文明有许多矛盾之处：它既有高度的科学技术，同时又是反工业化的。

As the top brand of complete factory automation in China, TOPSTAR focuses on high-end innovative equipment, proposes the brand value of. We initiate to replacelabor with intelligent systems, expand replaceable application areas and promote industrial progress to help enterprise developing, transform labor intensive type to full automation and return to a natural, human-oriented and harmonious status.Much in this emerging civilization contradicts the old traditional industrial civilization. It is, at one and the same time, highly technological and anti-industrial.摘自《第三次浪潮》——阿尔文·托夫勒from The Third Wave,Alvin Toffler企业简介Guangdong Topstar Technology Co., Ltd.（SZ.300607）is a National High-Tech Enterprise, focusing on the development of industrial robots, manufacturing and sales, dedicated to systems integration, products manufacturing and software development--three in one integration of industrial robot ecosystems and overall automation solution.Since the establishment in 2007, adhering to the brand advocate "Let Industrial Civilization Return To The Natural Beauty” and the core value "one year investment return for the automation solution", the business has maintained a rapid growth. In 2015, Topstar was named “China Industrial Automation Leading Enterprise” by the State Ministry of Information Industry Development Institute. We have served about 4000 customers in domestic and oversea market, including well-known companies from Global 500. Now our sales and service network are all over the country in China and the products have been exported to more than 30 countries in Asia, America, Europe, Africa, etc.In 2014, we were ranked on the 30th as "Potential 100 Non-Listed Chinese Enterprises" by Forbes. In 2015, we were named "China's Most Potential Enterprise" by Ernst & Young with Fudan University, at the same time won the Guangdong Provincial-level Enterprise Technical Center, the Rapid Growth of Small&Medium Enterprises of Guangdong Province, and as the only one robot enterprise selected in Guangdong Province Manufacturing 500, honored “2014 and 2015Annual Golden Globe” by GG Robots, etc. In 2016, was assessed as the first batch of robot key enterprises in Guangdong Province. Our enterprise is highly appreciated by national ministries , provincial and municipal leaders.At present, our shareholders include China Huarong, top PE Shenzhen Fortune Capital, Industrial Securities and Dongguan Sangem Group.Topstar has recruited top R&D experts from Canada, Korea and Taiwan, and carried out long-term research cooperation with Tsinghua University, Huazhong University of Science and Technology, South China University of Technology, Dongguan Institute of Technology and other research institutions and well-known colleges. We have achieved 100 national patents and 10 software copyrights.Three kinds of Robots with independent intellectual property were named Guangdong Provincial Famous Brand and five kinds of machines were named Guangdong High-Tech Products. Many machines have been certified by CE.Company profile广东拓斯达科技股份有限公司（SZ.300607）是国家级高新技术企业，专注于工业机器人的研发、制造、销售，致力于打造系统集成 + 本体制造 + 软件开发三位一体的工业机器人生态系统和整体自动化解决方案。

Preface This quick start will be helpful in the installation, wiring, inspection, and operation of Delta ASDA-AB series AC servo drive and ECMA series servo motor. Before using the product, please read this quick start to ensure correct use. You should thoroughly understand all safety precautions before proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta sales representative. Place this quick start in a safe location for future reference. Please observe the following precautions: Do not use the product in a potentially explosive environment.Install the product in a clean and dry location free from corrosive and inflammable gases or liquids.Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution will damage either the Servo motor or drive.Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.).Do not disconnect the AC servo drive and motor while the power is ON.Do not attach, modify or remove wiring when power is applied to the AC servo drive and motor.Before starting the operation with a mechanical system connected, make sure the emergency stop equipment can be energized and work at any time.Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result in serious personnel injury.Further information on the AC servo drive and motor can be obtained from the user manual. You can download the user manual via the link /industrialautomation/ above in PDF format.The content of this quick start may be revised without prior notice. Please consult our distributors or download the most updated version at /industrialautomation/ .Safety PrecautionsCarefully note and observe the following safety precautions when receiving, inspecting, installing, operating, maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark safety precautions when using the Delta’s servo product. Failure to observe these precautions may void the warranty!ASDA-AB series drives are open type servo drives and must be installed in an NEMA enclosure such as a protection control panel during operation to comply with the requirements of the international safety standards. They are provided with precise feedback control and high-speed calculation function incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase permanent magnet synchronous motors (PMSM) to achieve precise positioning by means of accurate current output generated by IGBT (Insulated Gate Bipolar Transistor).ASDA-AB series drives can be used in industrial applications and for installation in an end-use enclosure thatdo not exceed the specifications defined in the ASDA-AB series user manual (Drives, cables and motors are for use in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).Unpacking CheckInstallationEnglish-1WiringOperation¾Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe this precaution may cause serious personal injury.Maintenance and Inspection¾Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result.¾Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock may result.¾Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing any wiring and/or inspection as an electrical charge may still remain in the servodrive and servo motor with hazardous voltages even after power has been removed.¾Do not disassemble the servo drive or motor as electric shock may result.¾Do not connect or disconnect wires or connectors while power is applied to the drive and motor.¾Only qualified personnel who have electrical knowledge should conduct maintenance and inspection. Main Circuit Wiring¾It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once per minute as high charging currents within the internal capacitors may cause damage.English-2English-3Main Circuit Terminal WiringInstallation and Storage ConditionsThe product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions are:Store in a clean and dry location free from direct sunlight.Store within an ambient temperature range of -4°F to 149°F (-20°C to +65°C).Store within a relative humidity range of 0% to 90% and non-condensing.Do not store in a place subjected to corrosive gases and liquids.Correctly packaged and placed on a solid surface.Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight. Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airbornedust or metallic particles.Do not mount the servo drive or motor in a location where temperatures and humidity will exceedspecification.Do not mount the servo drive or motor in a location where vibration and shock will exceedspecification.Do not mount the servo drive or motor in a location where it will be subjected to high levels ofelectromagnetic radiation.Installation Note and Minimum ClearancesInstallation Note:Incorrect installation may result in a drivemalfunction or premature failure of the drive andor motor. Please follow the guidelines in thisinstruction when installing the servo drive andmotor.The AC servo drive should be mountedperpendicular to the wall or in the control panel.In order to ensure the drive is well ventilated,ensure that the all ventilation holes are notobstructed and sufficient free space is given tothe servo drive.Do not install the drive in a horizontal position ormalfunction and damage will occur.English -4Minimum Clearances:Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When installingtwo or more drive adjacent to each other please follow the clearances as shown in the following diagram.Servo Drive and Servo Motor Combinations PowerServo Drive Servo Motor 100WASD-A0111-AB ASD-A0121-AB ECMA-C30401 S (S=8mm) 200W ASD-A0211-ABASD-A0221-ABECMA-C30602 S (S=14mm) 400W ASD-A0411-ABASD-A0421-AB ECMA-C30604 S (S=14mm) ECMA-C30804 7 (7=14mm) ECMA-E31305 S (S=22mm)ECMA-G31303 S (S=22mm)750W ASD-A0721-ABECMA-C30807 S (S=19mm)ECMA-G31306 S (S=22mm) 1000W ASD-A1021-ABECMA-C31010 S (S=22mm)ECMA-E31310 S (S=22mm) ECMA-G31309 S (S=22mm)1500W ASD-A1521-AB ECMA-E31315 S (S=22mm)2000W ASD-A2023-AB ECMA-C31020 S (S=22mm)ECMA-E31320 S (S=22mm)ECMA-E31820 S (S=35mm)The boxes ( ) at the ends of the model names are for optional configurations (keyway, brake and oil seal).English-5Cable Specifications for Servo Drive Power Cable - Wire Gauge mm 2 (AWG) Servo Drive and Servo MotorL1, L2 R, S, T U, V, W P , C ASD-A0111-ABASD-A0121-ABECMA-C30401 S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ASD-A0211-ABASD-A0221-ABECMA-C30602 S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ECMA-C30604 S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ECMA-C30804 7 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ECMA-E31305 S1.3 (AWG16)2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ASD-A0411-ABASD-A0421-AB ECMA-G31303 S1.3 (AWG16)2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ECMA-C30807 S1.3 (AWG16)2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)ASD-A0721-AB ECMA-G31306 S1.3 (AWG16)2.1 (AWG14) 0.82 (AWG18)2.1 (AWG14)ECMA-C31010 S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)ECMA-E31310 S1.3 (AWG16)2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)ASD-A1021-AB ECMA-G31309 S1.3 (AWG16)2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)ASD-A1521-AB ECMA-E31315 S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)ECMA-C31020 S1.3 (AWG16)2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)ECMA-E31320 S1.3 (AWG16)2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)ASD-A2023-AB ECMA-E31820 S 1.3 (AWG16) 2.1 (AWG14)3.3 (AWG12)2.1 (AWG14)Encoder Cable - Wire Gauge mm 2 (AWG) Servo DriveWire Size Core Number UL Rating Standard Wire Length ASD-A0111-ABASD-A0121-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0211-ABASD-A0221-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0411-ABASD-A0421-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0721-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A1021-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A1521-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A2023-AB0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminateelectrical noise and interference.2) The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminalmarked ) of the servo drive.After power in connected to the AC servo drive, the charge LED will be lit which indicates that the AC servo drive is ready.Item ContentGeneral Inspection Periodically inspect the screws of the servo drive, motor shaft, terminal block and the connection to mechanical system. Tighten screws as necessary as they may loosen due to vibration and varying temperatures.Ensure that oil, water, metallic particles or any foreign objects do not fall inside the servo drive, motor, control panel or ventilation slots and holes. As these will cause damage.Ensure the correct installation and the control panel. It should be free from airborne dust, harmful gases or liquids.Ensure that all wiring instructions and recommendations are followed; otherwise damage to the drive and or motor may result.Inspection beforeoperation (Control power is notapplied) Inspect the servo drive and servo motor to insure they were not damaged.To avoid an electric shock, be sure to connect the ground terminal of servo drive to the ground terminal of control panel.Before making any connection, wait 10 minutes for capacitors to discharge after the power is disconnected, alternatively, use an appropriate discharge device to discharge.Ensure that all wiring terminals are correctly insulated.Ensure that all wiring is correct or damage and or malfunction may result.Visually check to ensure that there are not any unused screws, metal strips, or any conductive or inflammable materials inside the drive.Never put inflammable objects on servo drive or close to the external regenerative resistor.Make sure control switch is OFF.If the electromagnetic brake is being used, ensure that it is correctly wired.If required, use an appropriate electrical filter to eliminate noise to the servo drive. Ensure that the external applied voltage to the drive is correct and matched to the controller.Inspection during operation (Control power isapplied) Ensure that the cables are not damaged, stressed excessively or loaded heavily.When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended.Check for abnormal vibrations and sounds during operation. If the servo motor is vibrating or there are unusual noises while the motor is running, please contact the dealer or manufacturer for assistance.Ensure that all user-defined parameters are set correctly. Since the characteristics of various machinery are different, in order to avoid accident or cause damage, do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value.Ensure to reset some parameters when the servo drive is off (Please refer to Chapter 7 of ASDA-AB user manual). Otherwise, it may result in malfunction.If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating, please contact your distributor for assistance or contact with Delta.Check for abnormal conditions of the power indicators and LED display. If there is any abnormal condition of the power indicators and LED display, please contact your distributor for assistance or contact with Delta.English-6Single-Phase Power Supply Connection (For 1.5kW and below models, 220V series)Single-Phase Power Supply Connection (For 400W and below models, 110V series)English-7Three-Phase Power Supply Connection (For 2kW models)English-8English-9Basic WiringServo Drive Dimensions1) Dimensions are in millimeters and (inches).2) Weights are in kilograms and (pounds).3) In this quick start, actual measured values are in metric units. The units in (imperialunits) are for reference only. Please use metric for precise measurements.序言感謝您使用本產品，此份安裝手冊提供ASDA-AB系列伺服驅動器及ECMA系列伺服馬達的相關資訊。

YMPC一川电机V 6.0AASD伺服电机驱动器技术手册台州一川电机有限公司安全注意事项为确保安全使用本产品，必须遵守下列安全标志，以免伤害人员，损坏设备。

！警告表示错误操作可引发危险，导致轻度或中度人身伤害，损坏设备，甚至引发火灾。

！危险表示错误操作引发危险，导致伤害或死亡。

表示禁止操作。

!！表示必须操作。

产品到达后，进行确认、安装、配线、运行维护、检查时，以下是必须遵守的重要事项：●安装时注意事项：！警告严禁安装在潮湿及会发生腐蚀的环境、有易燃性气体的环境下、可燃物的附近及灰尘、金属粉末较多的环境，否则有可能会发生触电和火灾。

●配线时的注意事项：！警告◢伺服驱动器的接地端子必须接地，否则，可能会发生触电和火灾。

◢严禁把伺服驱动器的输出端子U，V，W ，连接至三相电源，否则，可能受伤和引发火灾。

◢严禁把220V驱动器连接至380V电源，否则可以触电和引发火灾。

◢务必将电源端子、电机输出端子拧紧，否则有可能会引发火灾。

●运行时的注意事项：！危险◢在运行中，严禁触摸任何旋转部件，否则可能会受伤。

◢在运行中，严禁触摸电机和驱动器，否则可能会烫伤。

！警告◢在运行前，必须选择好正确的电机型号，否则可能人员受到伤害，损伤设备。

◢在运行前，必须设置好与应用场合相适应的用户参数，否则可能受到伤害，损伤设备。

◢在运行前，确认机械是否可随时紧急停止，否则，可能会受伤。

●保养检查时的注意事项：◢严禁触摸伺服驱动器的内部，否则有可能触电。

◢关闭电源后，在5分钟内，严禁触摸端子，否则，残留的电压可能会导致触电。

◢严禁拆装伺服电机，否则有可能触电。

目录第1章产品检查及安装..................................................................................... - 1 -1.1产品检查............................................................................................................ - 1 -1.2产品铭牌............................................................................................................ - 1 -1.3产品前面板........................................................................................................ - 2 -1.4驱动器技术规格 ................................................................................................ - 3 -1.5伺服电机安装 .................................................................................................... - 4 -1.6 电机旋转方向 ................................................................................................... - 5 -1.7 伺服单元与电机型号适配................................................................................. - 5 -第2章接线 ....................................................................................................... - 8 -2.1系统组成与接线 ................................................................................................ - 8 -2.1.1 220V伺服驱动器接线图 ................................................................................................... - 8 -2.1.2 380V伺服驱动器接线图 ................................................................................................... - 9 -2.1.3接线说明 .......................................................................................................................... - 10 -2.1.4电线规格 .......................................................................................................................... - 10 -2.1.5强电端子说明 .................................................................................................................. - 11 -2.2 CN1通信接口 .................................................................................................. - 12 -2.3 CN2控制接口 .................................................................................................. - 13 -2.4 CN3编码器接口............................................................................................... - 18 -2.5标准接线.......................................................................................................... - 19 -2.5.1位置控制接线图(标准版) ................................................................................................ - 19 -2.5.2速度/转矩控制接线图(标准版) ....................................................................................... - 20 -第3章显示与操作 .......................................................................................... - 21 -3.1面板组成.......................................................................................................... - 21 -3.1.1显示屏与按键(标准版) .................................................................................................... - 21 -3.2模式功换.......................................................................................................... - 22 -3.3监控模式(Dn)操作............................................................................................ - 22 -3.4辅助模式(Fn)操作 ............................................................................................ - 23 -3.5用户参数模式(Pn)操作..................................................................................... - 33 -第4章Pn功能参数........................................................................................ - 34 -4.1 参数设置面板操作.......................................................................................... - 34 -4.2参数一览表...................................................................................................... - 34 -4.2.1系统控制参数 .................................................................................................................. - 34 -4.2.2位置控制参数 .................................................................................................................. - 37 -4.2.3速度控制参数 .................................................................................................................. - 39 -4.2.4转矩控制参数 .................................................................................................................. - 40 -4.2.5扩展控制参数 .................................................................................................................. - 41 -4.3 参数详解......................................................................................................... - 43 -4.3.1系统参数 ........................................................................................................................ - 43 -4.3.2位置控制参数 ................................................................................................................ - 63 -4.3.3速度控制参数 ................................................................................................................ - 70 -4.3.4转矩控制参数 ................................................................................................................ - 76 -4.3.5扩展控制参数 ................................................................................................................ - 81 -4.4端口功能详解 ................................................................................................. - 85 -4.4.1SigIn输入端口功能详解............................................................................................... - 85 -4.4.2 SigOut输出端口功能详解........................................................................................... - 88 -第5章监控参数与操作................................................................................... - 90 -5.1 监控面板操作 ................................................................................................. - 90 -5.2 监控参数一览表.............................................................................................. - 90 -第6章报警及处理 .......................................................................................... - 92 -6.1报警清除操作 .................................................................................................. - 92 -6.2警报内容与对策 .............................................................................................. - 92 -6.3其它故障现象及处理措施................................................................................ - 97 -第7章Modbus串口通信 .............................................................................. - 99 -7.1 Modbus通信简介 ............................................................................................ - 99 -7.1.2 编码含义 ......................................................................................................................... - 99 -7.1.3 数据结构 ......................................................................................................................... - 99 -7.2通信协议结构 ................................................................................................ - 100 -7.3 常用命令码 ................................................................................................... - 102 -7.3.1读多个寄存器 ................................................................................................................ - 102 -7.3.2写单个寄存器 ................................................................................................................ - 103 -7.3.3 诊断 ............................................................................................................................... - 105 -7.3.4 写多个寄存器 ............................................................................................................... - 106 -7.3.5 校验码计算 ................................................................................................................... - 109 -7.3.6 异常码 ........................................................................................................................... - 111 -7.4 伺服参数、状态信息通信地址 ..................................................................... - 112 -第8章运行与调整 ........................................................................................ - 113 -8.1 点动运行....................................................................................................... - 113 -8.2 按键调速运行 ............................................................................................... - 113 -8.3 增益调谐....................................................................................................... - 114 -8.3.1 系统惯量识别 ............................................................................................................... - 115 -8.3.2 自动增益调整 ............................................................................................................... - 117 -8.3.3手动增益调整 ................................................................................................................ - 118 -8.3.4抑制抖动方法 ................................................................................................................ - 119 -第9章伺服单元控制结构与实例.................................................................. - 120 -9.1 位置控制实例 ............................................................................................... - 120 -9.1.1位置控制结构图 ............................................................................................................ - 120 -9.1.2位置控制举例 ................................................................................................................ - 120 -9.2 速度控制实例 ............................................................................................... - 121 -9.2.1速度控制结构图 ............................................................................................................ - 121 -9.2.2速度控制举例 ................................................................................................................ - 121 -9.3转矩控制实例 ................................................................................................ - 121 -9.3.1转矩控制结构图 ............................................................................................................ - 121 -9.3.2转矩控制举例 ................................................................................................................ - 122 -9.4电子齿轮比计算 ............................................................................................ - 122 -9.5电子齿轮比举例 ............................................................................................ - 124 -9.5.1滚珠丝杆 ........................................................................................................................ - 124 -9.5.2圆台 ................................................................................................................................ - 124 -9.5.3皮带+皮带轮 .................................................................................................................. - 125 -第10章绝对式伺服单元的使用 ................................................................... - 126 -10.1绝对数据信息输出方式................................................................................ - 126 -10.2绝对数据信息收发时序................................................................................ - 127 -10.3ABZ脉冲信号分频输出 ................................................................................. - 130 -10.4绝对式编码器的初始化................................................................................ - 131 -10.5绝对式编码器电池的安装 ............................................................................ - 131 -附录 .............................................................................................................. - 132 -附录A 增益切换................................................................................................. - 132 -附录B 控制模式切换.......................................................................................... - 132 -B.1位置/速度控制模式切换.................................................................................................. - 132 -B.2位置/转矩控制模式切换 .................................................................................................. - 133 -B.3速度/转矩控制模式切换 .................................................................................................. - 135 -附录C伺服驱动器工作时序................................................................................ - 135 -C.1电机静止时的ON/OFF动作时序 .................................................................................... - 135 -C.2电机运转时的ON/OFF动作时序 .................................................................................... - 136 -C.3伺服ON时报警的时序 .................................................................................................... - 136 -附录D电磁制动器 .............................................................................................. - 137 -附录E 再生制动电阻.......................................................................................... - 137 -附录F原点回归 .................................................................................................. - 138 -F1.1原点回归运行步骤 ........................................................................................................ - 138 -F1.2原点回归触发时序 ........................................................................................................ - 138 -F1.3原点回归组合模式时序.................................................................................................. - 140 -附录G 内部位置控制 ......................................................................................... - 145 -附录H 定长位移中断 ......................................................................................... - 147 -第1章产品检查及安装- 1 - 1第1章产品检查及安装1.1产品检查本产品在出厂前均做过完整功能测试，为防止产品运送过程中因疏忽导致产品不正常，拆封后请详细检查下列事项：●检查伺服驱动器与伺服电机型号是否与订购的机型相同。

序言感谢您使用本产品，本使用操作手册提供ASDA-A系列伺服驱动器及ASMT系列伺服电机的相关信息。

内容包括：z伺服驱动器和伺服电机的安装与检查z伺服驱动器的组成说明z试转操作的步骤z伺服驱动器的控制功能介绍及调整方法z所有参数说明z通信协议说明z检测与保养z异常排除z应用例解说明本使用操作手册适合下列使用者参考z伺服系统设计者z安装或配线人员z试转调机人员z维护或检查人员在使用之前，请您仔细详读本手册以确保使用上的正确。

此外，请将它妥善放置在安全的地点以便随时查阅。

在您尚未读完本手册时，请务必遵守下列事项：z安装的环境必须没有水气，腐蚀性气体及可燃性气体z接线时禁止将三相电源接至电机U、V、W的连接器，一旦接错时将损坏伺服电机z必须确保接地良好z在通电时，请勿拆解驱动器、电机或更改配线z在通电运作前，请确定紧急停机装置是否能随时启动z在通电运作时，请勿接触散热片，以免烫伤如果您在使用上仍有问题，请咨询经销商或者本公司客服中心序言|ASDA-A系列安全注意事项ASDA-A系列为一开放型（open type）伺服驱动器，操作时须安装于屏蔽式的控制箱内。

本驱动器利用精密的反馈控制及结合高速运算能力的数字信号处理器（Digital Signal Processor, DSP），控制IGBT产生精确的电流输出，用来驱动三相永磁式同步交流伺服电机（PMSM）达到准确定位。

ASDA-A系列可使用于工业应用场合上，且建议安装于使用手册中的配线(电)箱环境（驱动器、线材及电机都必须安装于符合UL环境等级1的安装环境最低要求规格）。

在接受检验、安装、配线、操作、维护及检查时，应随时注意以下安全注意事项。

标志「危险」、「警告」及「禁止」代表的涵义：意指可能潜藏危险，若未遵守可能会对人员造成严重或致命的伤害。

意指可能潜藏危险，若未遵守可能会对人员造成中度的伤害，或导致产品严重损坏，或甚至故障。

意指绝对禁止的行动，若未遵守可能会导致产品损坏，或甚至故障而无法使用。

操作编程说明书SH-2000H 火焰切割机 数控系统 邮 编：100043 通信地址：北京石景山区阜石路166号泽洋大厦604室 电 话：（010）88799803、88909150 售后服务：（010）88799875 传 真：（010）88909271 网 址： 电子邮箱：stat@ 北 京 斯 达 微 步 控 制 技 术 有 限 公 司*使用系统前请认真阅读本手册。

使用注意事项:1. 包装箱打开后请检查系统在运输过程中有无破损,装箱单上所列内容与箱内物品是否符合。

2．本说明书适用于火焰切割机数控系统、等离子切割机、水刀切割机数控系统。

3. 请检查电源电压是否正确（ＡＣ２２０Ｖ±１５％），并使用隔离变压器或其它有隔离功能的稳压装置。

以确保系统可靠工作和人身安全。

4．数控系统要求工作环境温度为0℃- +40℃，相对湿度为0-85%。

在高温、高湿和有腐蚀性气体的环境下工作，需要采取特殊的防护。

5．数控系统各部分接线要正确，地线接触良好。

在与等离子电源同时使用时必须有很好的接地与屏蔽。

6．数控系统不允许带电插拔机箱后部所有电缆插头，由此产生的后果，本公司拒绝保修。

7．数控系统后部输出插头的线不允许和+24V电源短路，否则将烧毁数控输出电路。

8．在高粉尘环境下，整机需要做粉尘防护，并且需要定期清理灰尘，尽量保证数控系统的清洁。

9．数控系统应由专人管理，对操作人员应进行培训。

10．不允许将数控系统内部使用的交流/直流电源连接到其他用电器。

11．本系统装载的图形编程软件为检测和征求意见版，需要在使用中完善，不作为系统必备功能和验收项目。

在使用中发现问题请及时告诉我们。

12．如遇问题，请与北京斯达微步控制技术有限公司联系。

切勿在不熟悉的情况下自行拆装、改造系统。

13．维护系统和机床，每班执行一次[日常维护和检查]；每月执行一次[二级维护]；每六个月执行一次[一级维护]。

详细内容见附录。

14．数控系统的各项参数严格按照本说明书或订货时的补充说明里规定的范围，超出规定的范围会使系统工作不正常甚至损坏本数控系统。

the smart alternative to stepper motors •Easy to setup, easy to operate. SmartStep is as easy to use as a stepper motor•Front-panel switches make settings easy and eliminate the need for time-consuming parameter settings•Auto-tuning on-line mode, dynamic brake setting, alarm display, high torque performance•Easy to wire with prebuilt cables•Oscilloscope available via CX-Drive software (CX-One)•Windows based configuration and commissioning softwareRatings•230 VAC single-phase 30 W to 750 W (2.39 Nm)General specificationsPerformance specificationsI/O specifications Terminal specificationsServo motor FamilyVoltage Models rated torque RemarksR7M-A (3000 min -1)230 V0.095 Nm to 2.39 NmRefer to the SmartStep servo motors chapter for detailsR7M-AP(3000 min -1)230 V 0.318 Nm to 2.39 Nm Refer to the SmartStep servo motors chapter for detailsItemSpecification Ambient operating temperature 0 to 55 °CAmbient operating humidity 90% max. (with no condensation)Ambient storage temperature -20 to 85 °CAmbient storage humidity90% max. (with no condensation)Storage/operating atmosphere No corrosive gases.Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 4.9m/s 2 max., whichever is smallerImpact resistance Acceleration 19.6 m/s 2 max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case:0.5 M Ω min. (at 500 VDC)Dielectric strength Between power line terminals and case:1,500 VAC for 1 min at 50/60 Hz Between each control signal and case:500 VAC for 1 min Protective structure Built into panel (IP10).International standardsApproval obtained for UL, cUL, and EN (EMC directiveand low-voltage directive)Item200 VAC input type 30 W 50 W 100 W 200 W 400 W750 WR7D-APA3H R7D-APA5H R7D-AP01H R7D-AP02H R7D-AP04H R7D-AP08H Continuous output current (rms)0.420.60.89 2.0 2.6 4.4Momentary maximum output current (rms) 1.3 1.9 2.8 6.08.013.9Control power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz Main-circuit power supply Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz(three-phase 200/230 VAC can be used with the 750 W model.)Control method All-digital servoSpeed feedback 2,000 pulses/revolution incremental encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Weight0.80.80.80.8 1.1 1.7Compatible motor voltage 200 V Compatible motor capacity 30 W 50 W 100 W 200 W 400 W 750 W Command pulse response 250 kHz Applicable servo motor (R7M-)A03030A05030A10030AP10030A20030AP20030A40030AP40030A75030AP75030Control I/O (CN1) specificationsEncoder connector (CN2) specificationsCommunications connector (CN3) specificationsMonitor output (CN4) specificationsPin SymbolNameFunction1+PULS/CW/A Feed pulses, reverse pulses,or 90° phase difference pulses (A phase)Line-driver input: 7 mA at 3 V Open-collector input Input impedance: 200 ΩMaximum response frequency: 250 kppsPosition control is performed based on the pulses that have been input.2−PULS/CW/A 3+SIGN/CCW/B Direction signal, forward pulses,or 90° phase difference pulses (B phase)4−SIGN/CCW/B 5+ECRST Deviation counter resetLine-driver input: 7 mA at 3 VOpen-collector input: 16 mA at 5 V Input impedance: 200 ΩON: resets deviation counter.6−ECRST 7BKIR Brake interlock outputOutputs holding brake timing signals.8INP Positioning completed output ON when the position error is within the positioning completed range.10OGND Output ground commonGround common for output signals (pins 7 and 8).13+24V +24VDC power input for control Power supply input (+24 VDC) for pins 14 and 18.14RUN RUN command input ON: servo ON (starts power to servo motor)18RESET Alarm reset input ON: servo alarm status is reset.19GND RS-422A groundGround for RS-422A20RXD+RS-422A reception data Interface for RS-422A data transfers21RXD −22TXD+RS-422A transmission data23TXD −24RT Termination resistance terminalConnect to RXD- (pin 21) in the unit at the end of the line.32ZEncoder phase-Z open-collector outputOutput goes ON when the encoder’s phase-Z signal (1 pulse/revolution) is detected.Open-collector output: 20 mA max. at 30 VDC 33ZCOM 34ALMAlarm output Output goes OFF when alarm is detected.Open-collector output: 50 mA max. at 30 VDC 35ALMCOM ShellFGCable shield groundGround for cable's shield wire.Pin Symbol NameFunction1, 2, 3E0V Encoder power supply GND Power supply output for encoder4, 5, 6E5V Encoder power supply +5 V 8S+Encoder + phase-S input Line driver input (conforms to EIA-RS422A)(Input impedance: 220 Ω ± 5%)9S −Encoder − phase-S input 10A+Encoder + phase-A input Line driver input (conforms to EIA-RS422A)(Input impedance: 220 Ω ± 5%)11A −Encoder − phase-A input 12B+Encoder + phase-B input Line driver input (conforms to EIA-RS422A)(Input impedance: 220 Ω ± 5%)13B −Encoder − phase-B input ShellFGCable shield groundGround for cable's shield wire.Pin Symbol NameFunction1/TXD Transmission data Transmission data:RS-232C output Reception data:RS-232C input2/RXD Reception data 3PRMU Unit switching Switching terminal for a parameter unit7+5V +5 V output This is the +5 V power supply output to the parameter unit.8GND GroundShellFGCable shield groundGround for cable's shield wire.Pin Symbol NameFunction1NM Speed monitor Speed monitor output: 1 V per 1,000 r/min 2AM Current monitor Current monitor: 1 V / rated torque 3GND Ground Grounds for monitor output4GNDGroundGeneral specificationsFunction specificationsMode change specificationsItemSpecification Ambient operating temperature 0 to 55 °CAmbient operating humidity 90% max. (with no condensation)Ambient storage temperature -20 to 85 °CAmbient storage humidity90% max. (with no condensation)Storage/operating atmosphere No corrosive gases.Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1 mm double amplitude or acceleration of 9.8m/s 2 max., whichever is smallerImpact resistanceAcceleration 19.6 m/s 2 max., in X, Y, and Z directions, three timesItemFunctionSetting mode Display or change parameter settings.Monitor modeDisplay monitor values.Execute function mode Execute each function mode.Display alarms Display alarms that have occurred.Copy parametersRead or save parameters from the servo drive.Write parameters to the servo drive.Compare parameters in the servo drive with parameters in the parameter unit.Power ONComponentsSwitch operations Gain adjustment switchAdjusts the motor’s responsiveness.When this switch is set to 0, the unit will operate according to the set-tings in the internal parameters (Pn100, Pn101, Pn102, and Pn401).When this switch is set to 1 through F, the unit will operate according to the rotary switch’s setting.Decrease the switch setting to lower the motor’s responsiveness (i.e., so that it moves more smoothly).Increase the switch setting to raise the motor’s responsiveness (i.e., so that it moves faster).Unit number switch Gain adjustment switch DIP switchAutotuning switch• Resolution setting• Command pulse input setting • Dynamic brake settingAlarm indicator Monitor output connector (CN4)Control I/O connector (CN1)Communications connector (CN3)Encoder input connector (CN2)Servo motor power terminalsSetting Position loop gain Speed loop gainSpeed loopintegral constantTorquecommand filter time constant0Enables parameter settings(including settings other than gain settings).115154,000250220203,500200330303,000150440402,000100560601,50070685851,00050712012080030816016060020920020050015A 25025040010B 25025040010C 25025040010D 25025040010E 25025040010F25025040010Enable switch/parameter settingPin 6 of the DIP switch selects whether the servo drive operates according to theDIP switch settings or parameter settings.Online autotuning settingThe autotuning switch selects whether the gain will be adjusted auto-matically during operation.Resolution settingPins 4 and 5 select the positioning resolution.If the resolution is set to 1,000 (the default setting), the motor makesone revolution for every 1,000 pulses input.Command pulse input settingPin 3 selects the command pulse mode. Select “Forward pulse/reversepulse: positive logic” or “feed pulses/direction signal: positive logic.”Dynamic brake settingPin 2 enables or disables dynamic brake operation. If the dynamic brake is ena-bled, the motor can be brought to an emergency stop when the RUN commandgoes OFF or an alarm occurs.Alarm TableNote: 1.These parameters are read when the power is turnedON. Parameter Pn110.2 is valid when online.2.When using a regeneration resistor, set the resistor’scapacity when the temperature has risen to 120°C.Set this parameter to 0 if a regeneration resistor is notbeing used.Pin 6FunctionOFF Enables the DIP switch settings.ON Enables the parameter settings.Pins Resolution54OFF OFF1,000 pulses/revolution(0.36°/step)OFF ON10,000 pulses/revolution(0.036°/step)ON OFF500 pulses/revolution(0.72°/step)ON ON5,000 pulses/revolution(0.072°/step)(Default setting)Perform online autotuning.Complete online autotuning.The result is stored in the inertia ratioparameter (Pn103) and the servo driveruns.(Default setting)Pin 3Command pulse modeOFF Forward pulse/reverse pulse:positive logicON Feed pulses/direction signal:positive logicPin 2Dynamic brake modeOFF Dynamic brake disabled.ON Dynamic brake enabled.(Default setting)(Default setting)Display ALM output Error detection function Display ALM output Error detection functionA.04*OFF Parameter setting error A.7A OFF OverheatA.10*OFF Overcurrent A.bF*OFF System errorA.30OFF Regeneration error A.C1OFF Runaway detectedA.32OFF Regeneration overload A.C2*OFF Phase not detectedA.40OFF Overvoltage/undervoltage A.C3*OFF Encoder disconnect detectedA.51OFF Overspeed A.d0OFF Deviation counter overflowA.70OFF Overload CPF00---Parameter unit transmission error 1A.73OFF Dynamic brake overload CPF01---Parameter unit transmission error 2A.74OFF Inrush resistance overload A.91---Overload warningA.92---Regeneration overload warningServo drivesR7D-APA3H/APA5H/AP01H/AP02H (230 V, 30 to 200 W)R7D-AP04H (230 V, 400 W)R7D-AP08H (230 V, 750 W)FiltersR88A-FIW104-SER88A-FIW107-SE, R88A-FIW115-SEMounting dimensionsMounting dimensions5 dia. holeMounting dimensions5 dia. holeModelR88A-FIW107-SE R88A-FIW115-SE Dimensions in mmA 75 90B 240+5300+5C 50 60D 12 15E11.2Single-phase 200 to 230 VAC +10%/-15% (50/60 Hz)(the 750 W servo drives can input three-phase 200 to 230 VAC.)Connect the shield wire to theconnector shell.Note:*A regeneration resistor can be connected across the B1 and B2 terminals with 400W and 750W servo drives.When using an external regeneration resistor with a 400W servo drive, just connect it across the B1 and B2 terminals.When using an external regeneration resistor with a 750W servo drive, remove the jumper bar from the B2 and B3 terminals and then connect the regeneration resistor across the B1 and B2 terminals.Note:The symbols ABCDE ... show the recommended sequence to select the components in a SmartStep servo systemServo motorsNote:A Refer to the SmartStep servo motor chapter for detailed motor specifications and selection Servo drivesServo motor cables (for CN2)Standard cable (power + encoder)Flexible cables (power + encoder)SymbolSpecifications SmartStep drive model Compatible servo motors A Cylindrical type Flat type C200 VAC30 W R7D-APA3H R7M-A03030-@-50 W R7D-APA5H R7M-A05030-@-100 W R7D-AP01H R7M-A10030-@R7M-AP10030-@200 W R7D-AP02H R7M-A20030-@R7M-AP20030-@400 W R7D-AP04H R7M-A40030-@R7M-AP40030-@750 WR7D-AP08HR7M-A75030-@R7M-AP75030-@Control cables (for CN1)Cable for CN3Cable for CN4FiltersConnectorsExternal regeneration resistorParameter unit & computer softwareSymbolNameCompatible unitsModelAvailable lengths DServo relay unitUse with position control units(doesn’t support communications functions.)Units: CS1W-NC113/133, CJ1W-NC113/133, C200HW-NC113, and C200H-NC112XW2B-20J6-1B (1 axis)---Use with position control units(doesn’t support communications functions.)Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433, C200HW-NC213/413, C500-NC113/211, and C200H-NC211XW2B-40J6-2B (2 axes)Use with position control units(doesn’t support communications functions.)Units: CQM1H-PLB21, and CQM1-CPU43-V1XW2B-20J6-3B (1 axis)Use with position control units (supports communications functions.)Units: CS1W-NC213/233/413/433, CJ1W-NC213/233/413/433XW2B-40J6-4A (2 axes)Use with CJ1M-CPU22/23(doesn’t support communications functions.)XW2B-20J6-8A (1 axis)XW2B-40J6-9A (2 axes)E Cable to servo driveDoesn’t support communications functions. (For the XW2B-@@J6-@B)XW2Z-@@@J-B5 1 m or 2 m(the cable length goes in the empty boxes.)Supports communications functions. (For the XW2B-@@J6-4B)XW2Z-@@@J-B7FCable to position control unitCQM1H-PLB21 and CQM1-CPU43-V1XW2Z-@@@J-A30.5 m or 1 m(the cable length goes in the empty boxes.)C200H-NC112XW2Z-@@@J-A4C200H-NC211 and C500-NC113/211XW2Z-@@@J-A5CS1W-NC113 and C200HW-NC113XW2Z-@@@J-A8CS1W-NC213/413 and C200HW-NC213/413XW2Z-@@@J-A9CS1W-NC133XW2Z-@@@J-A12CS1W-NC233/433XW2Z-@@@J-A13CJ1W-NC113XW2Z-@@@J-A16CJ1W-NC213/413XW2Z-@@@J-A17CJ1W-NC133XW2Z-@@@J-A20CS1W-NC233/433XW2Z-@@@J-A21CJ1M-CPU22/23XW2Z-@@@J-A26G Control cableFor general-purpose controllersR88A-CPU @@@S 1 m or 2 m(the cable length goes in the empty boxes.)HConnector terminal block cableFor general-purpose controllers R88A-CTU @@@N Connector terminal blockXW2B-40F5-P---SymbolNameModelI Computer monitor cableR7A-CCA002P2SymbolNameModelJAnalog monitor cable R88A-CMW001SSymbolApplicable servo driveFilter model Rated current Rated voltageKR7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R88A-FIW104-E 4A 250 VAC single phaseR7D-AP04H R88A-FIW107-E 7A R7D-AP08H R88A-FIW115-E 15ASpecificationsModelControl I/O connector (for CN1)R88A-CNU01C SmartStep connectors kit.Models included in kit R7A-CNA00K-DESmartStep encoder connector (for CN2) R7A-CNA01RHypertac power connector female SPOC-06K-FSDN169Hypertac encoder connector femaleSPOC-17H-FRON169Hypertac power connector male (used in the motor)SRUC-06J-MSCN236Hypertac encoder connector male (used in the motor)SRUC-17G-MRWN087Specification Model220 W, 47 ΩR88A-RR22047SSpecificationsModelParameter copy unit (with cable)R7A-PR02A Configuration and monitoring software tool for servo drives and inverters. (CX-drive version 1.11 or higher)CX-drive Complete OMRON software package including CX-drive. (CX-One version 1.1 or higher)CX-OneIn the interest of product improvement, specifications are subject to change without notice.ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.To convert millimeters into inches, multiply by 0.03937. T o convert grams into ounces, multiply by 0.03527.Cat. No. I46E-EN-01。