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伺服驱动器使⽤说明书MMT-直流伺服驱动器使⽤⼿册济南科亚电⼦科技有限公司直流伺服驱动器使⽤说明书⼀、概述：该伺服驱动器采⽤全⽅位保护设计，具有⾼效率传动性能：控制精度⾼、线形度好、运⾏平稳、可靠、响应时间快、采⽤全隔离⽅式控制等特点，尤其在低转速运⾏下有较⾼的扭矩及良好的性能，在某些场合下和交流⽆刷伺服相⽐更能显⽰其优异的特性，并⼴泛应⽤于各种传动机械设备上。
⼆、产品特征：◇PWM控制H桥驱动◇四象限⼯作模式◇全隔离⽅式设计◇线形度好、控制精度⾼◇零点漂移极⼩◇转速闭环反馈电压等级可选◇标准信号接⼝输⼊0--±10V◇开关量换向功能◇零信号时马达锁定功能◇上/下限位保护功能◇使能控制功能◇上/下限速度设定◇输出电流设定功能◇具有过压、过流、过温、输出短路、马达过温、反馈异常等保护及报警功能三、主要技术参数◇控制电源电压AC：110系列：AC ：110V±10%220系列：AC ：220V±10%◇主电源电压AC：110系列：AC 40----110V220系列：AC50---- 220V◇输出电压DC：110系列：0—130V或其它电压可设定220系列：0—230V或其它电压可设定◇额定输出电流：DC 5A（最⼤输出电流10A）DC 10A（最⼤输出电流15A）DC 20A（最⼤输出电流25A）◇控制精度：0.1%◇输⼊给定信号：0—±10V◇测速反馈电压：7V/1000R 9.5V/1000R13.5V/1000R 20V/1000R可经由PC板内插⽚选定并可接受其它规格订制四、安装环境要求：◇环境温度：-5oC ~ +50oC◇环境湿度：相对湿度≤80RH。
（⽆结露）◇避免有腐蚀⽓体及可燃性⽓体环境下使⽤◇避免有粉尘、可导电粉沫较多的场合◇避免⽔、油及其他液体进⼊驱动器内部◇避免震动或撞击的场合使⽤◇避免通风不良的场合使⽤五、电源输⼊说明该驱动系统分两路电源输⼊：即U1、V1为主电源输⼊，U2、V2为控制电表1注：1、驱动器的主电源（即U1 V1）独⽴供电时，若电源开路时，驱动器会报警（⾯板上的T.F灯亮）待故障排出后，驱动器⾃动回复正常。
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土10V控制电源DC12〜24V 最大200mA保护功能OU LU OS OL OH REG OC ST CPU 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 X W85 X H205 重量3.8Kg 3•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2.0mn i 具体见接线图34.2CN 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4.3CN 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。
AFB24-SBasic Fail-Safe actuator for controllingdampers in typical commercial HVAC applications.• Torque motor 180 in-lb [20 Nm]• Nominal voltage AC/DC 24 V • Control On/Off • 2x SPDTTechnical dataElectrical dataNominal voltageAC/DC 24 V Nominal voltage frequency 50/60 HzNominal voltage rangeAC 19.2...28.8 V / DC 21.6...28.8 V Power consumption in operation 5 W Power consumption in rest position 2.5 W Transformer sizing 7.5 VAAuxiliary switch2x SPDT, 1 mA...3 A (0.5 A inductive), DC 5 V...AC 250 V, one set at 10°, one adjustable 10...90°Switching capacity auxiliary switch 1 mA...3 A (0.5 A inductive), DC 5 V...AC 250 V Electrical Connection (2) 18 GA appliance cables, 1 m, with 1/2" NPT conduit connectorsOverload Protection electronic throughout 0...95° rotation Electrical Protectionactuators are double insulated Functional dataTorque motor180 in-lb [20 Nm]Direction of motion motor selectable by ccw/cw mounting Direction of motion fail-safe reversible with cw/ccw mounting Manual override 5 mm hex crank (3/16" Allen), supplied Angle of rotation 95°Angle of rotation note adjustable with mechanical end stop, 35...95°Running Time (Motor)75 s / 90°Running time fail-safe <20 s @ -4...122°F [-20...50°C], <60 s @ -22°F [-30°C]Noise level, motor 50 dB(A)Noise level, fail-safe 62 dB(A)Position indicationMechanical Safety dataPower source ULClass 2 Supply Degree of protection IEC/EN IP54Degree of protection NEMA/UL NEMA 2Enclosure UL Enclosure Type 2Agency Listing cULus listed to UL60730-1A:02; UL60730-2-14:02 and CAN/CSA-E60730-1:02Quality Standard ISO 9001UL 2043 CompliantSuitable for use in air plenums per Section 300.22(C) of the NEC and Section 602 of the IMCAmbient humidity Max. 95% RH, non-condensing Ambient temperature -22...122°F [-30...50°C]Storage temperature -40...176°F [-40...80°C]Servicingmaintenance-freeAFB24-SFootnotesApplicationOperationTypical specificationWeight Weight5.6 lb [2.5 kg]MaterialsHousing material Galvanized steel and plastic housing†Rated Impulse Voltage 800V, Type of Action 1.AA.B, Control Pollution Degree 3.Product featuresFor On/Off, fail-safe control of dampers in HVAC systems. Actuator sizing should be done in accordance with the damper manufacturer's specifications. Control is On/Off from an auxiliary contact or a manual switch. The actuator is mounted directly to a damper shaft up to 1.05" in diameter by means of its universal clamp. A crank arm and several mounting brackets are available for applications where the actuator cannot be direct coupled to the damper shaft. Maximum of two AF's can be piggybacked for torque loads of up to 266 in-lbs. Minimum 3/4" diameter shaft and parallel wiring.The AF..24-S series actuators provide true spring return operation for reliable failsafe application and positive close off on air tight dampers. The spring return system provides constant torque to the damper with, and without, power applied to the actuator. The AF..24-S series provides 95° of rotation and is provided with a graduated position indicator showing 0° to 95°. The actuator may be stalled anywhere in its normal rotation without the need ofmechanical end switches. The AF..24-S versions are provided with two built-in auxiliary switches. These SPDT switches are provided for safety interfacing or signaling, for example, for fan start-up. The switching function at the fail-safe position is fixed at 10°, the other switch function is adjustable between 10° to 90°. The AF..24-S actuator is shipped at 5° (5° from full fail-safe) to provide automatic compression against damper gaskets for tight shut-off.On/Off spring return damper actuators shall be direct coupled type which require no crank arm and linkage and be capable of direct mounting to a jackshaft up to a 1.05” diameter. Theactuators must be designed so that they may be used for either clockwise or counter clockwise fail-safe operation. Actuators shall be protected from overload at all angles of rotation. If required, two SPDT auxiliary switch shall be provided having the capability of one beingadjustable. Actuators with auxiliary switches must be constructed to meet the requirements for Double Insulation so an electrical ground is not required to meet agency listings. Actuators shall be cULus listed and have a 5 year warranty, and be manufactured under ISO 9001 International Quality Control Standards. Actuators shall be as manufactured by Belimo.AccessoriesElectrical accessoriesDescriptionType Auxiliary switch, mercury-free P475Auxiliary switch, mercury-freeP475-1Signal simulator, Power supply AC 120 V PS-100Cable conduit connector 1/2"TF-CC US Transformer, AC 120 V to AC 24 V, 40 VAZG-X40AFB24-SMechanical accessoriesDescriptionTypeAnti-rotation bracket, for AF / NFAF-P Shaft extension 240 mm ø20 mm for damper shaft ø8...22.7 mm AV8-25End stop indicatorIND-AFB Shaft clamp reversible, for central mounting, for damper shafts ø12.7 / 19.0 / 25.4 mmK7-2Ball joint suitable for damper crank arm KH8 / KH10KG10A Ball joint suitable for damper crank arm KH8KG8Damper crank arm Slot width 8.2 mm, clamping range ø14...25 mm KH10Damper crank arm Slot width 8.2 mm, for ø1.05"KH12Damper crank arm Slot width 8.2 mm, clamping range ø10...18 mmKH8Actuator arm, for 3/4" shafts, clamping range ø10...22 mm, Slot width 8.2 mmKH-AFB Push rod for KG10A ball joint 36” L, 3/8” diameterSH10Push rod for KG6 & KG8 ball joints (36” L, 5/16” diameter).SH8Wrench 0.32 in and 0.39 in [8 mm and 10 mm]TOOL-06Retrofit clipZ-AF Mounting bracket for AF..ZG-100Mounting bracketZG-101Dual actuator mounting bracket.ZG-102Mounting bracket ZG-109Linkage kitZG-110Mounting bracket for AF / NFZG-118Jackshaft mounting bracket.ZG-120Mounting kit for linkage operation for flat and side installation ZG-AFB Mounting kit for foot mount installation ZG-AFB118Damper clip for damper blade, 3.5” width.ZG-DC1Damper clip for damper blade, 6” width.ZG-DC21" diameter jackshaft adaptor (11" L).ZG-JSA-11-5/16" diameter jackshaft adaptor (12" L).ZG-JSA-21.05" diameter jackshaft adaptor (12" L).ZG-JSA-3Weather shield 13x8x6" [330x203x152 mm] (LxWxH)ZS-100Baseplate, for ZS-100ZS-101Weather shield 406x213x102 mm [16x8-3/8x4"] (LxWxH)ZS-150Explosion proof housing 16x10x6.435" [406x254x164 mm] (LxWxH), UL and CSA, Class I, Zone 1&2, Groups B, C, D, (NEMA 7), Class III, Hazardous (classified) LocationsZS-260Weather shield 17-1/4x8-3/4x5-1/2" [438x222x140 mm] (LxWxH), NEMA 4X, with mounting bracketsZS-300Weather shield 17-1/4x8-3/4x5-1/2" [438x222x140 mm] (LxWxH), NEMA 4X, with mounting brackets ZS-300-5Shaft extension 1/2"ZS-300-C1Shaft extension 3/4"ZS-300-C2Shaft extension 1"ZS-300-C3Baseplate extension Z-SF Linkage kitJackshaft Retrofit Linkage with Belimo Rotary ActuatorsZG-JSLElectrical installationWarning! Live electrical components!During installation, testing, servicing and troubleshooting of this product, it may be necessary to work with live electrical components. Have a qualified licensed electrician or other individual who has been properly trained in handling live electrical components perform these tasks. Failure to follow all electrical safety precautions when exposed to live electrical componentscould result in death or serious injury.Meets cULus requirements without the need of an electrical ground connection.Apply only AC line voltage or only UL-Class 2 voltage to the terminals of auxiliary switches.Mixed or combined operation of line voltage/safety extra low voltage is not allowed.Actuators with appliance cables are numbered.Provide overload protection and disconnect as required.AFB24-SActuators may also be powered by DC 24 V.Two built-in auxiliary switches (2x SPDT), for end position indication, interlock control, fanstartup, etc.Actuators may be powered in parallel. Power consumption must be observed.Parallel wiring required for piggy-back applications.Wiring diagramsOn/Off Auxiliary SwitchesDimensions。
1.系统描述...................................................................................................................................- 3 -1.1系统布局图.......................................................................................................................................................- 4 -1.2基本原理...........................................................................................................................................................- 5 -1.3设备说明...........................................................................................................................................................- 6 -1.3.1电动缸DEMxB...........................................................................................................................................- 6 -1.3.2接线盒和电缆..........................................................................................................................................- 8 -1.3.3ACV9BR伺服驱动器...............................................................................................................................- 10 -2.技术规格....................................................................................................................................- 16 -2.1电动缸特性.....................................................................................................................................................- 16 -2.2伺服驱动器的技术特性.................................................................................................................................- 18 -2.3附属设备的技术规格.....................................................................................................................................- 20 -2.3.1主电源变压器........................................................................................................................................- 20 -2.3.2再生电阻RRC.........................................................................................................................................- 20 -2.3.3外部过滤器EFBR...................................................................................................................................- 21 -3.安装和接线.............................................................................................................................- 22 -3.1电动缸在塞棒机构上的安装.........................................................................................................................- 22 -3.1.1塞棒机构的准备....................................................................................................................................- 22 -3.1.1.1 塞棒机构固定件的图纸.....................................................................................................................- 22 -3.1.1.2 DEM电动缸在塞棒机构上的正确安装..............................................................................................- 23 -3.1.1.3塞棒机构间隙和阻力的检查..............................................................................................................- 24 -3.1.2电动缸的安装........................................................................................................................................- 26 -3.1.3塞棒的安装............................................................................................................................................- 27 -3.1.4隔热保护................................................................................................................................................- 28 -3.2.1接线盒JB9BR的安装说明.....................................................................................................................- 30 -3.2.2电缆说明................................................................................................................................................- 30 -3.2.3接线推荐规范和CE标准.......................................................................................................................- 32 -3.2.3.1 屏蔽线的接地.....................................................................................................................................- 32 -3.2.3.2 内部金属导体之间的连接.................................................................................................................- 32 -3.2.3.3 接线盒内的电缆连接.........................................................................................................................- 33 -3.2.3.4 驱动器侧的电缆连接.........................................................................................................................- 34 -3.2.4热区电缆的连接....................................................................................................................................- 35 -3.3驱动器ACV9BR的安装和接线.......................................................................................................................- 36 -3.3.1尺寸........................................................................................................................................................- 36 -3.3.2安装、定位和冷却................................................................................................................................- 37 -3.3.3电源的连接............................................................................................................................................- 39 -4.操作........................................................................................................................................- 40 -4.1手动模式.........................................................................................................................................................- 40 -4.2远程工作模式.................................................................................................................................................- 41 -4.3自动模式.........................................................................................................................................................- 41 -4.4塞棒关闭和安全装置.....................................................................................................................................- 42 -4.4.1塞棒关闭................................................................................................................................................- 42 -4.4.2断开电机电源（可选项）.....................................................................................................................- 42 -4.5运行故障的处理.............................................................................................................................................- 43 -5.维护........................................................................................................................................- 44 -5.1检查周期.........................................................................................................................................................- 44 -5.2电动缸的检查和维护.....................................................................................................................................- 45 -5.3推荐的备件.....................................................................................................................................................- 49 -5.4伺服驱动器的故障代码.................................................................................................................................- 53 -5.5故障的数字输出代码.....................................................................................................................................- 57 -5.6驱动器复位和状态显示.................................................................................................................................- 58 -5.7没有报警显示时的故障排除.........................................................................................................................- 59 -6.辅助设备.................................................................................................................................- 61 -6.1DEM系列电动缸的测试台..............................................................................................................................- 61 -6.2塞棒机构MQS..................................................................................................................................................- 61 -1.系统描述SERT的塞棒执行器系统用于控制塞棒和塞棒机构的位置，以控制流入结晶器的钢水的流量。
前 言感谢您信任并选用深圳市山龙电控设备有限公司生产的SLSDA系列交流伺服驱动器。
本系列交流伺服驱动器是我公司自主研发并具有自主知识产权的全数字通用型交流伺服系统，具有高智能化、小体积、高精度、高可靠性等特点。
为了使本伺服驱动器能够更稳定可靠地工作，确保使用者的安全，请在使用本产品之前仔细阅读本使用说明书。
阅读完后请妥善保管此说明书，以备随时查阅。
目录目录.....................................................................................................................- 1 -第1章产品规格.............................................................................................- 2 -第2章产品外观、连接端子分布图.............................................................- 3 -2.1伺服驱动器的产品外观图.............................................................- 3 -2.2伺服驱动器的产品外形尺寸图.....................................................- 4 -2.3三相交流永磁同步伺服电机外形尺寸图.....................................- 4 - 第3章面板操作与试运行.............................................................................- 5 -3.1 面板说明........................................................................................- 5 -3.2 各种模式的切换............................................................................- 6 -3.3 监视模式........................................................................................- 6 -3.4 参数设置........................................................................................- 8 -3.5 参数管理........................................................................................- 8 -3.6 简单试运行..................................................................................- 10 -3.6.1速度试运行........................................................................- 10 -3.6.2 JOG点动运行...................................................................- 11 - 第4章应用实例...........................................................................................- 13 -4.1 山龙刺绣机主轴使用实例..........................................................- 13 -4.1.1山龙刺绣机主轴使用接线................................................- 13 -4.1.2山龙刺绣机主轴使用操作方法........................................- 14 -4.1.3驱动器参数设置详细说明................................................- 16 -4.2 山龙刺绣机绣框X/Y使用实例.................................................- 17 -4.2.1山龙刺绣机绣框X/Y使用接线.......................................- 18 -4.2.2山龙刺绣机绣框X/Y操作方法.......................................- 19 -4.2.3驱动器参数设置详细说明................................................- 21 -4.2.4绣框X/Y驱动器相关参数调整说明...............................- 22 -- 1 -- 2 -输入电源 三相或单相AC220V -15~+10% 50/60Hz 温度工作：0~40°C 存贮：-40°C ~50°C使用环境 湿度 40%~80%(无结露) 控制方法 ①位置控制 ②速度控制 ③转矩控制 ④JOG 运行 ⑤试运行控制再生制动内置单相或三相速度频率响应 200Hz 或更高 速度波动率 <±0.03(负载0~100%)<±0.02(电源-15~+10%)(数值对应于额定速度)调速比 1：30000 特性脉冲频率≤500kHz 显示 6位数码管 界面操作按键×4控制输入①伺服使能 ②报警清除 ③CCW 驱动禁止 ④CW 驱动禁止 ⑤偏差计数器清零/速度选择1/零速箝位 ⑥指令脉冲禁止/速度选择2 ⑦CCW 转矩限制 ⑧CW 转矩限制 控制输出①伺服准备好输出 ②伺服报警输出 ③定位完成输出/速度到达输出 ④机械制动器释放输入方式①脉冲+方向 ②CCW 脉冲/CW 脉冲 ③两相A/B 正交脉冲电子齿轮 1/32767~32767 位置控制反馈脉冲 2500线/转、混合式增量编码器速度控制 4种内部速度加减速功能参数设置 1~10000ms / 1000r/min监视功能转速、当前位置、指令脉冲积累、位置偏差、电机转矩、电机电流、直线速度、转子绝对位置、指令脉冲频率、运行状态、输入输出端子信号等保护功能超速、主电源过压欠压、过流、过载、制动异常、编码器异常、控制电源异常、位置超差等2.1 伺服驱动器的产品外观图- 3 -2.3 三相交流永磁同步伺服电机外形尺寸图- 4 -3.1 面板说明操作面板（如图3-1 操作面板）由6个LED数码管和4个按键▲、▼、◀、Enter及两个状态指示灯组成。
