LSM系列交流永磁同步伺服电动机使用说明书

永磁交流同步伺服电动机速度控制系统工作流程
1. 设置目标速度：用户设置所需的电动机速度。

2. 速度传感器提供反馈信号：速度传感器检测电机的实际转速并将反馈信号发送到控制器。

3. 控制器处理反馈信号：控制器接收反馈信号并将其与用户设定的目标速度进行比较，以确定电动机是否需要加速或减速。

4. 调节输出信号：控制器根据反馈信号和目标速度确定输出信号，控制电动机的转速。

5. 输出信号给电动机：控制器将输出信号发送到电动机，控制其转速。

6. 建立电流平衡：控制器根据电动机的负载特性，通过调整输出电流来控制电动机转速，并建立电流平衡。

7. 实时监控：控制器实时监控电动机的运行状态，以确保电机能够稳定运行。

8. 调整电机转速：控制器根据反馈信号和负载变化，实时调整电机转速，以保持稳定的转速和负载平衡。

9. 维护：维护人员定期对系统进行检查和维护，以确保系统正常运行。

LSM Series Brushless Servo Motor Manual© 2003 Sheffield Automation, LLC. All rights reserved.Table of Contents: LSM Motor ManualUse of Motors (2)Safety Notes (2)LSM Motor And Performance Data (3)230 Volt Motors (3)460 Volt Motors (4)LSM Standard Motor Dimensions (5)LSM Motor Connector Ordering Information (6)LSM Motor Connector Data Tables (7)Standard Motor Radial Load Force Ratings For LSM Motors (8)Motor Installation (9)Couplings and Pulleys (9)Preventing Electrical Noise (10)Motor Model Name Identification (11)1Use of MotorsServo motors are intended to drive machinery. As such, they must be part of a controlled system that includes a transistorized electronic amplifier. They are not intended for direct connection to the power supply or for use with thyristor drives. Instructions in the amplifier and control system manuals must be observed; this document does not replace those instructions.Unless specified otherwise, servo motors are intended for use in a normal industrial environment without expo-sure to excessive or corrosive moisture or abnormal ambient temperatures. The exact operating conditions may be established by referring to the date for the motor. The mating of motors to machinery is a skilled operation; disassembly or repair must not be attempted. In the event that a motor fails to operate correctly, contact the place of purchase for return instructions.Safety NotesThere are some possible hazards associated with the use of motors. The following precautions should be observed. Specific Warnings and Cautions are listed under the heading “Motor Installation.”Installation and Maintenance: Installation and maintenance or replacement must be carried out by suitably qualified service personnel, paying particular attention to possible electrical and mechanical hazards. Weight: Large motors are generally heavy and the center of gravity may be offset. When handling, take appro-priate precautions and use suitable lifting equipment. Beware of share edges; use protective gloves when han-dling such assemblies.Flying leads: Ensure that flying or loose leads are suitably restrained to prevent snagging or entanglement before carrying motors with such leads.Generation: If the motor is driven mechanically, it may generate hazardous voltages at its power input termi-nals. The power connector must be suitably guarded to prevent a possible shock hazard.Loose motors: When running an unmounted motor, ensure that the rotating shaft is adequately guarded and the motor is physically restrained to prevent it from moving. Remove the key which otherwise could fly out when the motor is running.Damaged cables: Damage to cables or connectors may cause an electrical hazard. Ensure there is no damage before energizing the system.Supply: Servo motors must not be directly connected to a power supply; they require an electronic drive system. Consult the instructions for the drive system before energizing or using the motor.Brakes: The brakes that are included on motors are holding brakes only and are not to be used as a mechanical restraining device for safety purposes.Safety requirements: The safe incorporation of this product into a machine system is the responsibility of the machine designer, who should comply with the local safety requirements at the place where the machine is to be used. In Europe, this is likely to be the Machinery Directive.Mechanical connection: Motors must be connected to the machine with a torsionally rigid coupler or a rein-forced timing belt. Couplers which are not rigid will cause difficulty in achieving an acceptable response from the control system. Couplings and pulleys must be tight, as the high dynamic performance of a servo motor can easily cause couplings to slip and thereby damage the shaft and cause instability. Care must be taken in aligning couplings and tightening belts so that the motor is not subjected to significant bearing loads or premature bearing wear will occur. Once connected to a load, tuning will be affected. A system turned without a load will probably require retuning once a load is applied.Connectors: Ensure power is removed before making or removing any connection Motor connectors should not be connected or disconnected while power is applied.2LSM Motor And Performance Data230 Volt MotorsMotor Model LSM54-3-602LSM63-6-602LSM63-12-602LSM75-21-602LSM75-29-602In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm Continuous Torque3.336.712 1.421 2.3629 3.3 Peak Torque12 1.3225 2.850 5.6788.811713.2 Winding DataSpeed (rpm)60006000600060006000 Stall Current (amps peak)1 2.1 4.1 5.58.33.88.115.821.633Maximum Current(amps peak)KT (Nm/Amp).35.35.36.42.40K E V oltage Constant34343434949 (V/kRPM)Poles88888Winding Resistance30.298.49 3.68 2.26 1.32Ph to phase @ 25°CWinding Inductance57.526.213.017.912.4Phase to phase (mH)Mechanical DataRotor Moment lb-in-s2kg-m2lb-in-s2kg-m2lb-in-s2kg-m2lb-in-s2kg-m2lb-in-s2kg-m2 of Inertia .00003.0000029.00011.000013.00017.00002.00029.000033.00039.000044 Motor lb kg lb kg lb kg lb kg lb kg Net Weight 1.5.7 3.1 1.4 4.0 1.8 6.8 3.18.6 3.9 Shaft Material Steel Steel Steel Steel Steel34460 V o l t M o t o r sA m b i e n t T e m p e r a t u r e : 0 t o 40° C (32 t o 104° F )S t o r a g e T e m p e r a t u r e : -30 t o 70° C (-22 t o 158° F )R e l a t i v e H u m i d i t y : 5 t o 95% n o n -c o n d e n s i n g5L S M S t a n d a r d M o t o r D i m e n s i o n s78m m f o r L S M 165 m o t o r s w i t h b r a k e , 113m m f o r L S M 215 m o t o r s w i t h b r a k e . A d d 25m m f o r L S M 75 m o t o r w i t h S i n /C o s f e e d b a c k . L S M 100-215 a r e t h e s a m e l e n g t h w i t h S i n /C o s f e e d b a c k .2N o t A p p l i c a b l e M o t o r s m a n u f a c t u r e d t o m i l l i m e t e r d i m e n s i o n s s h o w n . I n c h d i m e n s i o n s c a n b e o b t a i n e d b y d i v i d i n g b y 25.4. F o r f u r t h e r m o t o r d e t a i l , e n g i n e e r i n g s p e c i f i c a t i o n d r a w i n g s a r e a v a i l a b l e .S i n /C o s f e e d b a c k i s u s e d w i t h S i n g l e t u r n h i g h r e s o l u t i o n (-S ) a n d M u l t i t u r n h i g h r e s o l u t i o n (-M ) f e e d b a c k o p t i o n s .N o t e : M o t o r s m a n u f a c t u r e d t o m i l l i m e t e r d i m e n s i o n s.LSM Motor Connector Ordering InformationOrdering options include the following:•24 VDC Brake (Consult factory for brake motor availability)•1000 Line encoder is standard for LSM 55 and 63 motors•Single turn high resolution•Multi-turn high resolutionConsult the factory for information on any of these items.Note: Optional configurations or encoder line counts have extended lead times and additional charges.Note: All options are not available.6LSM Motor Connector Data TablesSize 1; I < 13.5 Amps RMS Size 1.5; I < 44 Amps RMS+VW USize 3; I < 97 Amps RMS2178Standard Motor Radial Load Force Ratings For LSM MotorsMotors are capable of operating with the maximum radial or maximum axial shaft loads listed in the following tables. Radial loads are applied midway along the shaft extension. The table represents 20,000-hour L10 bearing fatigue life. This 20,000-hour life does not account for possible application-specific life reduction that may occur due to bearing grease contamination from external sources.Note: The axial Load Force must always be zero.RADIAL LOAD FORCE RATINGS(Maximum Radial Load)500 RPM 1000 RPM2000 RPM3000 RPM4000 RPM5000 RPM6000 RPMkg (lb)kg (lb)kg (lb)kg (lb)kg (lb)kg (lb)kg (lb)LSM542453235122482147214620442043LSM632861276026582555245324522350LSM752965296328622759265725562454LSM1005612356123481064294368034763373LSM130127281912026815158129531184911045101LSM165147325107236761686314056123461034395LSM21521447215834811224789196761686314058129Radial Load Force - lbs (Kg) applied at centerAxial Load ForceMotor InstallationUnmounted motors, disconnected mechanical couplings and/or disconnected cables aredangerous if power is applied.Disassembled equipment should be appropriately identified (tagged-out) and access toelectrical power restricted (locked-out).Failure to observe these safety procedures could result in personal injury and damage toequipment.Observe the following installation guidelines and those under the heading “Safety Notes”:1.Do not run motors that are not properly mounted. Attach all power and encoder cables after the motor ismounted.2.Mount motors with connectors pointing downward and use a drip loop in the cable to keep liquids flowingaway from the connectors.3.The installer must comply with all local regulations and should use equipment and installation practices thatpromote electromagnetic compatibility and safety.Outer surfaces of motor can reach high temperatures, 125°C (275°F) during motoroperation.Take precautions to prevent accidental contact with hot surfaces.Failure to observe these safety procedures could result in personal injury.Couplings and PulleysMechanical connections to the motor shaft, such as couplings and pulleys, require a rigid coupling or a rein-forced timing belt. The high dynamic performance of servo motors can cause couplings, pulleys or belts to loosen or slip over time. A loose or slipping connection will cause system instability and may damage the motor shaft and keyway. All connections between the system and the servo motor shaft must be rigid to achieve accept-able response from the system. Connections should be periodically inspected to verify the rigidity.When mounting couplings or pulleys to the motor shaft, ensure that the connections are properly aligned and that axial and radial loads are within the specifications of the motor. The section “Load Force Ratings” provides guidelines to achieve 20,000 hours of bearing life. Additional information about load force ratings, including graphical depiction of varied load ratings and bearing life, is available for any motor from the Technical Support groups listed on the back cover.9Preventing Electrical NoiseElectroMagnetic Interference (EMI), commonly called “noise”, may adversely impact motor performance by inducing stray signals. Effective techniques to counter EMI include filtering the AC power, shielding and sepa-rating signal carrying lines, and practicing good grounding techniques. Effective AC power filtering can be achieved through the use of isolated AC power transformers or properly installed AC line filters. Physically sep-arate signal lines from motor cabling and power wiring; do not parallel signal wires with motor or power wires or route signal wires over the vent openings of servo drives. Ground all equipment using a single-point parallel ground system that employs ground bus bars or straps. If necessary, use electrical noise remediation techniques to mitigate EMI in “noisy” environments.Knowledgeable cable routing and careful cable construction improves system electromagnetic compatibility (EMC). General cable build and installation guidelines include:1.Keep wire lengths as short as physically possible.2.Route signal cables (encoder, serial, analog) away from motor and power wiring.3.Separate cables by 1 foot minimum for every 30 feet of parallel run.4.Ground both ends of the encoder cable and twist the signal wire pairs.e shielded motor cables when necessary to prevent electromagnetic interference (EMI) with other equip-mentHigh voltage can be present on the shield of a power cable, if the shield is not groundedEnsure there is a connection to ground for any power cable shield.Failure to observe these safety procedures could result in personal injury or damage toequipment.10Motor Model Name IdentificationModelFrame mm (bolt hole circle)Torque in-l bSpeed 2 digits *100=RPMV oltage 1 digit *100=V oltageFeedback M, S, E [multiturn, SinCos, Incremental Encoder (linecount*1000)]Brake Option 0, 2, (0 no brake, 24 volt)Other Option AA (no other options) -- connectors, face plate, shaft modificationsK* - with keyway*O – With Blower*S - With Shaft SealSee examples below:Model Number DescriptionLSM100-14-502-E2-0AA100 frame 14 in-lb, 5000 RPM, 230 volt, lineencoder with no brake, no other optionsLSM130-90-302-S-2AA 130 frame 90 in-lb, 3000 RPM, 230 volt, Single turnhigh resolution, 24 volt brake, no options11。

ISMG1系列通用伺服电动机用户手册Ver0.0 苏州默纳克控制技术有限公司前言感谢您使用默纳克公司ISMG1系列通用交流伺服电机。

该系列交流伺服电机是一种快速响应、精确定位的交流伺服电机。

该产品需要配合伺服驱动器一起组成一套驱动系统，可用于各种需要精确定位、精密控制的场合。

在使用该系列电机之前，请您仔细阅读本使用说明书各项内容，以保证该电机的正确安装、连接、使用和维护。

注意事项♦本使用说明书中的图例仅为了说明，可能会与您订购的产品有所不同。

♦由于产品升级或规格变更，以及为了提高说明书的便利性和准确性，本说明书的内容会及时进行变更。

♦由于损坏或遗失而需要订购使用说明书时，请与本公司各区域代理商联系，或直接与本公司客户服务中心联系。

♦如果您使用中仍有一些使用问题不明，请与本公司客户服务中心联系。

♦客服电话：400-777-12601 安全及注意事项a 、使用前用500V 兆欧表检查电机U 、V 、W 对电机外壳的绝缘电阻，应该不低于5M Ω。

b 、使用时应有良好的接地。

c 、电机转动时请不要用手触摸电机的轴伸。

d 、不要撞击电机，以免造成反馈元器件损坏。

e 、装机前电机须空载与伺服驱动器联调正常。

2 型号命名规则ISM系列伺服电机G1A 100VB 200V U A BCDE ×1×10×100×1000×10000功率两位功率数和一位字母组成50A 75B 15C50W 750W 1500WX 标准两位转速数和一位字母组成一位字母和一位数字组成U1C 300V D400V1光轴2实心带键3轴连接方式一位字母和一位数字组成5制动器、减速器、油封一位字母和一位数字组成0没有1油封2制动器3减速器4油封+制动器5油封+减速器6制动器+减速器A B C D E 50B 30C 10DAR17F风扇冷却图2-1 命名规则3 主要性能指标3.1 产品使用环境海拔高度：1000米以下环境温度：0℃～40℃相对湿度：20-80%(不得结露)IP等级：全封闭自冷却IP65、风冷IP54（轴贯通部分除外）电机需要安装在通风良好、且不能够太阳直晒的室内环境。

交流伺服电机驱动器使用说明书1．特点●16位CPU+32位DSP三环（位置、速度、电流）全数字化控制●脉冲序列、速度、转矩多种指令及其组合控制●转速、转矩实时动态显示●完善的自诊断保护功能，免维护型产品●交流同步全封闭伺服电机适应各种恶劣环境●体积小、重量轻2．指标●输入电源三相200V -10%～+15% 50/60HZ●控制方法IGBT PWM(正弦波)●反馈增量式编码器（2500P/r）●控制输入伺服-ON 报警清除CW、CCW驱动、静止●指令输入输入电压±10V●控制电源DC12～24V 最大200mA●保护功能OU LU OS OL OH REG OC STCPU错误，DSP错误，系统错误●通讯RS232C●频率特性200Hz或更高（Jm=Jc时）●体积L250 ×W85 ×H205●重量 3.8Kg3．原理见米纳斯驱动器方框图(图1)和控制方框图(图2)4．接线4.1主回路卸下盖板坚固螺丝；取下端子盖板。

用足够线经和连接器尺寸作连接，导线应采用额定温度600C以上的铜体线，装上端子盖板，拧紧盖板螺丝。

螺丝拧紧力矩大于1.2Nm M4或2.0 Nm M5时才可能损坏端子,接地线径为2.0mm2具体见接线图34.2 CN SIG 连接器[具体见接线图4●驱动器和电机之间的电缆长度最大20M●这些线至少要离开主电路接线30cm，不要让这些线与电源进线走一线槽；或让它们捆扎在一起●线经0.18mm2或以上屏蔽双绞线，有足够的耐弯曲力●屏蔽驱动器侧的屏蔽应连接到CN.SIG 连接器的20脚，电机侧应连接到J脚●若电缆长于10M，则编码器电源线+5V、0V应接双线4.3 CN I/F 连接●控制器等周边设备与驱动器之间距离最大为3M●这些线至少和主电路接线相隔30cm ,不要让这些线与电源进线走同一线槽或和它们捆扎在一起●COM+和COM-之间的控制电源（V DC）由用户供给●控制信号输出端子可以接受最大24V或50mA；不要施加超过此限位的电压和电流●若用控制信号直接使继电器动作要象左图所示那样，并联一只二极管到继电器。

目录CONTENTS 低压伺服电动轮LS系列低压伺服产品应用案例LS系列低压伺服驱动器简介产品特点自主停车功能自动省电设计无限位顶升电压补偿制动功能自主知识产权LS系列低压伺服驱动器产品类别全功能标准型AGV行业总线型定制型AGV行业一体机系列低压伺服电机40系列80系列60系列110系列低压伺服电动滚筒LS系列低压伺服产品配套工具无线模块SC-LoRa USB-RS485SM-BK 驱动器调试软件基本功能：技术特点：位置/速度/力矩控制，模式切换过载能力：短时最大200%快速的电流环浮点CLA内核处理保护功能：欠压、过压、过流、超载、失速、位置超差等支持MODBUS协议的RS232及RS485通讯接口支持CAN总线接口：包括自定义协议及标准CANOPEN协议自主停车功能自动省电设计无限位顶升电压补偿内置报闸控制内置动态制动功率范围：100W~3KW标准产品工作电压范围：24~70VDC 支持96VDC等定制设计LS系列低压伺服驱动器LS 系列低压伺服驱动器是北京和利时电机技术有限公司根据市场需求、顺势推出的新一代高性能、高精度、高可靠产品， 标准产品系列工作电压24~70VDC,具有体积小、稳定性高及组网方便等优点，支持CAN、Modbus总线以及脉冲和模拟量等多种控制方式，广泛应用于物流仓储系统、搬运系统、分拣系统、医疗器械等对电压及体积有较高要求的领域。

针对低温、通讯、安装等特定应用行业的用户，公司可提供定制版低压伺服驱动器，包括单轴、二轴合一、四轴合一、低温型、高屏蔽防护型等多款产品，方便用户与设备本体的组合安装应用，适用于 AGV、物流、军工、防爆及高低温试验等设备。

01自主停车功能自主停车采用总线互动及动态制动原理，当某一台驱动器报错或者故障将通知其他驱动器，同时进入动态制动模式，迫使电机紧急停止以达到同步快速停车的目的。

顶升驱动左行进驱动右行进驱动旋转驱动相关参数Fn 1C0Fn 1C1Fn 1C3Fn 1C5Fn 1C6Fn 1C7Fn 1C8Fn 1C9Fn 1CAFn 1CBFn 1CCFn 1CDFn 1CE用13个参数来设置省电设计为了提高AGV车辆的待机时间，驱动器提供节能省电模式设计。

产品运转前请认真阅读说明书，并请保存好，以便以后查阅。

M O D R O L E L E C T R I C C O .,L T D .蒙德IMS-MF 系列使用手册交流伺服驱动器安装接线及参数一览表400V 级1.5kW ～55kW(E)NO：JSWJ－01－21－02－01目录第1章使用铭牌说明………………………………………………………………………………1-1机型与尺寸……………………………………………………………………………1-2安装场所的确认与管理………………………………………………………………1-4安装方向与空间………………………………………………………………………1-5第2章接线连接周边机器…………………………………………………………………………2-1端子台的构成…………………………………………………………………………2-2相互接线………………………………………………………………………………2-4控制回路端子的功能…………………………………………………………………2-6FU-05*扩展卡…………………………………………………………………………2-9FU-08*扩展卡………………………………………………………………………2-10第3章数字式操作器和参数组的概要数字式操作器…………………………………………………………………………3-1参数组的概要…………………………………………………………………………3-4第4章参数一览表参数一览表与内容说明………………………………………………………………4-1监视参数………………………………………………………………………………4-2系统操作………………………………………………………………………………4-3应用参数………………………………………………………………………………4-4第5章报警检查报警检出………………………………………………………………………………5-1报警说明………………………………………………………………………………5-6第6章调试过程及功能应用试运行的操作…………………………………………………………………………6-1速度控制………………………………………………………………………………6-4位置控制………………………………………………………………………………6-5主轴定位………………………………………………………………………………6-6刚性攻丝………………………………………………………………………………6-8附录…………………………………………………………………………………6-10使用本章节说明驱动器到货时以及安装时的确认事项。

交流伺服永磁电机选型手册1,2016警告和操作注意事项1.电动机内装光电编码器中，安装时严禁敲打电动机；用户不得自行拆装光电编码器，否则破坏编码器与电动机绕组的相对位置（零点）而致使电动机无法运行！2.在正常气候条件下，用500V兆欧表测量电动机绕组对机壳的绝缘电阻,其值不应小于20M。

3.按本使用说明书所述的电动机与驱动单元接线方式正确连接，确保保护接地牢固可靠。

4.电动机从零速至最高速空载运行,应无异常噪声和震动，方可投入负载运行。

5.电动机运行中，切勿接触运转中的电动机轴以及电动机外壳。

6.具有相应资格的人员，才能调整、维护电动机。

7.不得拖拽电线（缆）、电动机轴搬运电动机。

8.用户对产品的任何改动本公司将不承担任何责任。

本使用说明书由最终用户收藏。

请您关注以下伺服电机为自冷式散热方式，安装时请选择足够大的安装板。

伺服电机长期工作，机体本身会有一定的温度，这是正常情况。

装配了失电制动器的伺服电机，其失电制动器的电源必须由驱动器控制开闭，否则会造成工作状态不佳。

伺服电机内装精密反馈元件，严禁重力敲击电机轴伸端及后部。

严禁随意更改、折装及加工电机部件。

工作运行环境1.海拔高度不超过1000m。

当海拔高度超过1000m时，需考虑到因空气冷却效果减弱对部分性能指标的影响。

2.环境温度在-10℃〜+40℃的范围内。

3.空气相对湿度W90%(无凝露)。

4. AC稳态电压值为(0.85〜1.1)X额定电压值。

伺服电机型号说明MODEL:ACSM 110- G 040 30 L Z B-L F 3 ~ 5 6 7 8 LAC SERVO MOTOR（交流永磁同步伺服电机）2 ,机座尺寸110*1103,编码器类型：G光电编码器,X旋变4,额定转矩：三位数XO.1N.rn5•额定转速：二位数X100加lin6.额定电压：L=AC220V H = AC380V兀中惯量8,抱闸O U、V、W为伺服电机绕组线圈引线端。

1.SA系列交流伺服简介SA系列数字式交流永磁同步电机伺服驱动器（以下简称伺服驱动器）采用了国际上先进的DSP 芯片（数字信号处理器）对电机的位置、转速、转矩进行数字化智能控制。

该伺服驱动器不仅可靠性高、性能优异，而且可以通过设定用户参数，对系统进行任意组态。

例如：可以组成位置控制系统、速度控制系统、转矩控制系统等。

1.1SA系列交流伺服的使用方法1.1.1 速度控制方式速度控制方式的伺服驱动器标准使用方法，如下图所示：如上图所示，在上位机侧组成位置控制环。

在上位机中，进行位置指令和位置反馈的比较操作，即进行位置环调节的计算，输出模拟速度指令给伺服驱动器。

伺服驱动器接收上位机的模拟速度指令，进行速度环控制。

在这种控制方式下，上位机的位置反馈可以是伺服驱动器输出的电机编码器信号，也可以是安装在机械上的直线位置测量信号（例如光栅尺、磁栅尺、感应同步器等），即可以组成位置全闭环系统。

1.1.2 位置控制方式位置控制方式的伺服驱动器标准使用方法，如下图所示：上位机进行完定位及插补计算后，将位置指令以脉冲串的形式传送给伺服驱动器，由伺服驱动器进行位置指令和位置反馈的比较操作，即进行位置环调节的计算。

这种形式的伺服驱动器包含了位置控制环。

作为位置指令的脉冲串，可以是下面的任一种，在伺服驱动器侧可以通过设定用户常数进行选择：1）符号位＋脉冲列2）具有90°相位差的两相脉冲序列3）正转脉冲序列+ 反转脉冲序列1.2 SA系列交流伺服驱动器的内置功能SA系列伺服控制器的内置功能说明如下：1）控制方式转换通过数字操作器设定用户常数，可以使伺服驱动器工作于位置控制方式或速度控制方式。

为了防止误操作，在伺服电机运行时（伺服使能状态），不能改变控制方式。

2）再生能量处理功能伺服驱动器内置再生能量处理电路和再生制动电阻。

当伺服电机起制动频繁或负载惯量过大时，则必须使用外置再生制动电阻。

3）能耗制动功能在伺服驱动器断电、伺服驱动器故障时，电机处于不受控状态。