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- 東元伺服TSTA說明書
- 文件大小：7095
- 授權方式：共享版
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- 軟件語言：簡體中文
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- 更新時間：2010-3-9 9:52:00
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東元伺服驅動器說明書（高功能通用型驅動器TSTA系列）
目 錄
第一章 產品檢查及安裝
1-1 產品檢查...........................................................................................................................1
1-1-1 伺服驅動器機種確認................................................................................................1
1-1-2 伺服電機機種確認....................................................................................................2
1-1-3 伺服驅動器與伺服電機搭配對照表.........................................................................2
1-2 伺服驅動器外觀及面板說明............................................................................................3
1-3 伺服驅動器操作模式簡介................................................................................................4
1-4 伺服驅動器安裝環(huán)境條件與方法....................................................................................5
1-4-1 安裝環(huán)境條件............................................................................................................5
1-4-2 安裝方向及間隔........................................................................................................6
1-5 伺服電機安裝環(huán)境條件與方法........................................................................................7
1-5-1 安裝環(huán)境條件............................................................................................................7
1-5-2 安裝方式...................................................................................................................7
1-5-3 其它注意事項............................................................................................................8
第二章 配線準備
2-1 系統(tǒng)組成及配線...............................................................................................................9
2-1-1 伺服驅動器電源及外圍裝置配線圖.........................................................................9
2-1-2 伺服驅動器配線說明..............................................................................................10
2-1-3 電線規(guī)格.................................................................................................................11
2-1-4 電機端出線.............................................................................................................12
2-1-5 電機及電源標準接線圖..........................................................................................13
2-1-6 TB端子說明...........................................................................................................14
2-1-7 電機附機械式剎車(BRAKE)接線說明...................................................................14
2-2 I/O信號端子說明............................................................................................................15
2-2-1 CN1控制信號端子說明..........................................................................................16
2-2-2 CN2編碼器信號端子說明......................................................................................28
iv
2-3 控制信號標準接線圖.....................................................................................................30
2-3-1 位置控制(Pe Mode)接線圖(Line Driver).................................................................30
2-3-2 位置控制(Pe Mode)接線圖(Open Collector) ...........................................................31
2-3-3 位置控制(Pi Mode)接線圖......................................................................................32
2-3-4 速度控制(S Mode)接線圖.......................................................................................33
2-3-5 轉矩控制(T Mode)接線圖.......................................................................................34
第三章 面板操作說明
3-1 驅動器面板操作說明.....................................................................................................35
3-2 面板顯示訊息說明.........................................................................................................40
3-2-1 狀態(tài)顯示功能說明..................................................................................................40
3-2-2 診斷功能說明.......................................................................................................... 41
第四章 試運轉操作說明
4-1 無負載伺服電機試運轉..................................................................................................49
4-2 無負載伺服電機搭配上位控制器試運轉.......................................................................52
4-3連接負載伺服電機搭配上位控制器試運轉....................................................................55
第五章 控制機能
5-1 控制模式選擇.................................................................................................................56
5-2 轉矩模式.........................................................................................................................57
5-2-1 模擬轉矩命令比例器..............................................................................................57
5-2-2 模擬轉矩命令偏移調整..........................................................................................58
5-2-3 轉矩命令直線加減速..............................................................................................59
5-2-4 轉矩輸出方向定義..................................................................................................60
5-2-5 內部轉矩限制設定..................................................................................................60
5-2-6 轉矩模式的速度限制..............................................................................................61
v
5-3 速度模式.........................................................................................................................62
5-3-1 選擇速度命令..........................................................................................................63
5-3-2 模擬速度命令比例器..............................................................................................64
5-3-3 模擬速度命令偏移調整..........................................................................................64
5-3-4 模擬速度命令限制..................................................................................................65
5-3-5 編碼器信號分周輸出..............................................................................................65
5-3-6 速度命令平滑化......................................................................................................67
5-3-7 速度旋轉方向定義..................................................................................................70
5-3-8 速度回路增益..........................................................................................................71
5-3-9 共振抑制濾波器(Notch Filter).................................................................................71
5-3-10 速度模式的轉矩限制...........................................................................................73
5-3-11 增益切換機能.......................................................................................................74
5-3-12 其它速度控制機能...............................................................................................80
5-4 位置模式.........................................................................................................................82
5-4-1 外部脈波命令模式..................................................................................................83
5-4-2 內部位置命令模式..................................................................................................85
5-4-3 電子齒輪比.............................................................................................................90
5-4-4 位置命令一次平滑加減速......................................................................................95
5-4-5 位置命令方向定義..................................................................................................96
5-4-6 位置回路增益調整..................................................................................................96
5-4-7 脈波誤差量清除......................................................................................................97
5-4-8 原點復歸.................................................................................................................98
5-4-9 其它位置控制機能................................................................................................106
5-5 伺服增益調整...............................................................................................................107
5-5-1 自動增益調整........................................................................................................ 111
5-5-2 手動增益調整........................................................................................................ 114
5-5-3 改善響應特性........................................................................................................ 115
5-6 其它機能....................................................................................................................... 116
5-6-1 輸入/輸出接點機能規(guī)劃....................................................................................... 116
5-6-2 控制模式切換........................................................................................................ 118
vi
5-6-3 接點輔助機能........................................................................................................ 118
5-6-4 剎車模式............................................................................................................... 119
5-6-5 機械剎車時序........................................................................................................ 119
5-6-6 CW/CCW驅動禁止方式.......................................................................................121
5-6-7 外部回生電阻的選用............................................................................................121
5-6-8 風扇運轉設定........................................................................................................125
5-6-9 模擬監(jiān)視...............................................................................................................126
5-6-10 參數重置............................................................................................................127
第六章 參數機能
6-1 參數群組說明.............................................................................................................. 128
6-2 參數機能表.................................................................................................................. 129
第七章 通訊機能
7-1 通訊機能（RS232）.....................................................................................................157
7-1-1 通訊接線...............................................................................................................157
7-1-2 通訊協(xié)議及格式....................................................................................................158
7-2 各參數相對應之通訊地址............................................................................................161
第八章 異常警報排除
8-1異常警報說明................................................................................................................166
8-2異常排除對策................................................................................................................168
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