華大sbf-al及do1000系列英文說(shuō)明書(shū)124版

DO- ConnectionandDebuggingManualforAll-digitalACServoDriverV124VersionTableofImportantSafety ChapterI OutlineDimensionsoftheServo InstallationDimensionsfortheServo DirectionandSpaceof ChapterIIOverviewof BasicFunctionsofDO-1000Seriesof TypeSelectionoftheServo ChapterIII Wiring Wiring Typical PositionControl(pulse SpeedControl og TorqueControl og WiringDiagramforWireSavingMotor WiringDiagramfortheBand-typeBrakeoftheServo ChapterIV DefinitionsofServoControlPowerSupplyandHeavyCurrent DefinitionsofCN1InterfaceandControlSignal DefinitionsofCN2interfaceandEncoderInput PrincipleoftheInputInterfaceforSwitching PrincipleoftheOutputInterfaceforSwitching PrincipleoftheInputInterfaceforPulse InputModeof Principeoftheinputinterface og PrincipeofEncoder CN1OutputInterfaceforEncoderSignal(fromthedrivertotheupper CN2InputInterfaceforEncoderSignal(fromtheservomotortothe CN1OutputInterfaceforZsignaloftheEncoder(fromdriveroutputtozeroingbytheupper ChapterVDisplayand Operation ComponentsofParameter StatusMonitoringMode(DP-- ParameterModificationMode(PA-- ParameterManagementMode(EE-- JOGOperationalMode(Jr-- SpeedTrialRunMode(Sr-- AutomaticZeroingModeofogValue(AU-- AutomaticZeroingModeofEncoder(CO-- OpenLoopOperationMode(OL-- ChapterVI ListofParameters[PA DetailedExplanationof ChapterVIIFailuresand Listof ChapterVIIIDebuggingand NoticestoQuick PositionControl(Quickadjustmentofparametersafterpower SpeedControl(Quickadjustmentofparametersafterpower TorqueControl(Quickadjustmentofparametersafterpower DynamicElectronic DebuggingofTypical ChapterIXServo ImportantImportantSafetyImproperImproperoperationmaycauseaccidentssuchaselectricarcburnorelectricshock,Itisnotallowedtooperate,wireandelectrifytheproductwithoutfollowingthisalarewithintheThisproductisahigh-voltageheavycurrentproduct.MakesureareaofmovingnelThisThisproductisahigh-voltageheavycurrentproduct.Itisnotallowedtoelectrifyandusetheproductwheretherearecombustibleorcorrosivegases;otherwisefireandexplosionmaybecaused.Itisnotallowedtoelectrifyandusetheproductwherecombustibleorcorrosivearticlesdrop;otherwisefireandexplosionmaybecaused.Itisnotallowedtousetheproductintheplaceswithhighhumidity,moistureandmetalotherwisedangerousaccidentssuchaselectricshock,etc.maybeII.SiteThisThisproductisahigh-voltageheavycurrentproduct.IncorrectconnectionmayleadtodamagetothePEterminalmustbeconnectedtoagroundwireandmakesurethatthegroundwireisreliablyAC220Vpowersupplyissuitableforthisproduct.DonotconnectanAC380VonetotheservoTheU,VandWoftheproductshouldbeconnectedwiththemotor.Theyareoutputs.Donotconnectthemwithinputpowersupply.Donotconnectthethree-phaseoutputsU,VandWoftheproductinanincorrectsequence;becauseincorrectconnectionmayleadtomotorracing,damagetoequipment,andovercurrentdamagetotheTightenallterminals.ThematerialsofallmatchingwiresshouldbestrictlyselectedaccordingtoPowerdistributionandtouchingoftheterminalsarenotallowedwhenthedriverisDonottouchtheterminalswithinfive(5)minutesafterpowerItisnotallowedtotouchthemotorandcableswhenthemotorisinoperationinordertoavoidaccidentalinjuriessuchasscaldingandwrench,etc.III.ProductandEquipmentItItisherebydeclaredthat2A/3A/5A/showninthemanualornameplatearetheabbreviationsforChapterChapterIOutlineDimensionsoftheServoFigure1.1OutlineDimensionalDrawingsfortheServoDriverof30A/30A1.11OutlineDimensionsoftheServoFigure1.2OutlineDimensionalDrawingsfortheServoDriverof50A/75AInstallationDimensionsfortheServoFigure1.11InstallationDimensionsfortheServoDriverof30A/30A1.21InstallationDimensionsfortheServoFigure1.21InstallationDimensionsfortheServoDriverof50A/75ATomakesurethattheservodriverworksnormally,itisnecessarytoensurethatthetemperaturearoundthedriverisbelow50°Candthattherelativehumidityisbelow90%.Thelong-termsafeworkingtemperatureshouldbebelow40°C.Theservodriverissubjecttofailureswhenusedinasevereenvironmentwithcorrosivegases,highhumidity,metalpowder,waterorprocessingliquids.Therefore,theworkingenvironmentshouldbefullytakenintoconsiderationduringtheuseandinstallation.Thevibrationaccelerationoftheequipmentwhichisdirectlyorindirectlyconnectedwiththeservodrivershouldbebelow0.5G(4.9m/S2)orlessinordertoensurelong-termstableoperationoftheservodriver.Theservodrivercouldbedisturbedwhenitisdisturbingotherfacilitiesatthesametime,soattentionmustbepaidtothewiringofheavycurrentandweakcurrentduringtheinstallationofaelectriccabinetorcompleteequipment.Theservodriverisunabletoworknormallyandalsoprobablyledtoproducemalfunctionduetostrongexternaldisturbingsignalsortheseriouseffectonthepowercordoftheservodriverandcontrolsignal.Atthesametimecontrolequipmentsuchasauppercomputer,etc.alsocannotworkstablyunderthedisturbanceoftheservodriverduetopoorwiring.Payattentiontoinstallasoundmagneticring,awavefilterandanisolationtransformer,etc.atthesourceofthedisturbanceandintheplaceswhicharedisturbed.Payspecialattentionthatthewireofcontrolsignalissubjecttodisturbance;thereforereasonablewiringandshieldingmeasuresshouldbetaken.DirectionandSpaceofPayattentiontothedirectionofinstallation(SeeFigurePayattentiontothespacingofinstallation(SeeFigureFour(4)M5boltscanfixtheservodriverwithaspringwasherTheservomustbeinstalledinarelativelyclosedspace,withventilationmaintainedintheelectriccabinetandafilterscreeninstalledattheventtopreventtheentryofdust.Clearthefilterscreenperiodicallytopreventairflowfrombeingblocked.Figure1.3Directionof向上通風(fēng)Upward 150mm以上aboveChapterChapterIIOverviewofBasicFunctionsofDO-1000SeriesofDO-1000ControlpowersupplyandcircuitpowerSinglephaseorthreephaseACStoragetemperature:-400C-Nomorethan90%(withoutAirNodust(conductivemediasuchasmetalpowder,etc.)intheControl1.Position 2.Speed3.Torque 4.JOG5.FourInternalspeed 6.Internalposition7.Internaltorque 8.Position&speed9.Speed&torqueExternal1.Servo 2.PositiondeviationPulse,CCW,andCWPositionSpeedZerospeedThesecondExtendedfunctions(options)suchasorientationandpermissiblestop,Encoder10000p/r(standard);frequencydivisionpermissibleRS485Load5timessmallerthanthatoftheMonitoringSpeed,currentposition,commandpulseaccumulation,positionmotorcurrent,operationstatus,inputandoutputterminals,andZpulsesignal,etc.ProtectionOvervoltage,overcurrent,overspeed,andincorrectfeedback,AlarmAlarms(LEDflashing;redlampon)areoftengivenoffwhentheoperatesGainGainadjustmentcanbecarriedouttomatchmotorperformancewhenmotoroperatesorAdaptiveSeeTables2.21,2.22andTypeSelectionoftheServoDO- (1)(2)(3)(4)Series:Dealour’scommontypesofservodriversareadaptabletomultiplespecificationsofservomotorsandindustrieswithrichformsofdatabase.Feedbackelements:10002500C/Tincrementaltypeandwiringsavingtypeencoders,Ssineandcosine(217bi/218bit(131072/262144)),Mmulti-loopbustype(217/216bit(131072/65536)),andBsingle-loopbustype(220bit( Controlmode:Bpositioncontrol,Call-functionposition/speed/torquecontrol,andTspecialtypePLCfunctionwithatouchscreenIPMmodulespecification:15Aand20Aarecalled2Aforshort;30A,3A;and50A,5Aand75A.Maincircuitvoltage:Lsinglephaseorthreephase220V;Hthreephase380V;default220Vwhenthisvoltageisomitted.Applicable80ST-80ST-80ST-42546566861445566696Applicable06192634567893Table2.22DO-Applicable06192634567893Table2.23DO-ChapterChapterIIITheservodriverisahighvoltageeheavycurrentproduct.Improperconnectionmaycausedamagetonelandequipment.PEterminalmustbeconnectedtoagroundwireandmakesurethatthegroundwireisreliablyAC220Vpowersupplyissuitableforthisproduct.DonotconnectanAC380VonetotheservoTheU,VandWoftheproductshouldbeconnectedwiththemotor.Theyareoutputs.Donotconnectthemwithinputpowersupply.Donotconnectthethree-phaseoutputsU,VandWoftheproductinanincorrectsequence;becauseincorrectconnectionmayleadtomotorracing,damagetoequipment,andovercurrentburnouttotheproduct.Tightenallterminals.Thematerialsofallmatchingwiresshouldbestrictlyselectedaccordingtopower.PowerdistributionandtouchingoftheterminalsarenotallowedwhenthedriverisDonottouchtheterminalswithinfive(5)minutesafterpowerItisnotallowedtotouchthemotorandcableswhenthemotorisinoperationinordertoavoidaccidentalinjuriessuchasscaldingandwrench,etc.WiringAthree-phaseisolationtransformerispreferredforpowerTherequireddiametersofR,S,TandU,V,W,PEwiresshouldbeequaltoandmoreAllpowerterminalsshouldbecold-pressedones,firmandCN1andCN2arehigh-densitysignalplugsthatneedcableswithashieldingThewiresforconnectingPEterminalsshouldbeyellow-greenoneswithadiameterequaltoandmorethan2.5mm2.WiringAthree-phaseisolationtransformerispreferredforpowerTherequireddiametersofR,S,TandU,V,W,PEwiresshouldbeequaltoandmoreAllpowerterminalsshouldbecold-pressedones,firmandCN1andCN2arehigh-densitysignalplugs,withbothendsoftheshieldinglayergroundedandconnectedwiththehousing.ThewiresforconnectingPEterminalsshouldbeputthroughwiththeequipmenthousinggroundwireandconnectedtotheearth.TypicalPositionControl(pulseFigure3.1WiringofPosition（斷路器）(Circuit單相或三相AC Singlephaseorthreephase外接制動(dòng)電阻Externalconnectiontobraking直流DC12V24VDC12V-伺服使能Servo清零AlarmCCW驅(qū)動(dòng)CCWdriverdisabledCW驅(qū)動(dòng)禁止CWdriverdisabled偏差計(jì)數(shù)清零Deviationcount指令脈沖Commandpulse伺服準(zhǔn)備好Servo伺服Servo第二回零Thesecond伺服電機(jī)Servo伺服電機(jī)插座Servomotor抱閘松緊Bandtypebrake指令脈沖PULSCommandpulsePULS指令脈沖SIGNCommandpulseSIGN反饋到控制單元Feedbacktocontrol信號(hào)地編碼器 signalgroundwireencoder伺服電機(jī)編插座Servomotorencoder編Z信號(hào)設(shè)備回零用EncoderZsignalusedforequipment層與外殼相連TheshieldinglayershouldbeconnectedtotheSpeedControl ogFigure3.1WiringofSpeed（斷路器）(Circuit單相或三相AC SinglephaseorthreephaseAC外接制動(dòng)電阻Externalconnectiontobraking直流DC12V至 DC12V-伺服使能Servo清零AlarmCCW驅(qū)動(dòng)CCWdriverdisabledCW驅(qū)動(dòng)禁止CWdriverdisabled零速箝位/速度選擇1Zerospeedclam/speedselection速度選擇2Speedselection伺服準(zhǔn)備好Servo伺服Servo第二回零Thesecond伺服電機(jī)Servo伺服電機(jī)插座Servomotor抱閘松緊Band-typebrake速度模擬指令（-10V到+10V） ogcommand(-10V-指令脈沖PULS CommandpulsePULS指令脈沖SIGN CommandpulseSIGN反饋到控制單元Feedbacktocontrolunit信號(hào)地編碼器Signalgroundwireencoder伺服電機(jī)編插座Servomotorencoder編Z信號(hào)設(shè)備回零用EncoderZsignalusedforequipment層與外殼相連TheshieldinglayershouldbeconnectedtotheTorqueControl(ogFigure3.1WiringofTorque（斷路器）(Circuit單相或三相AC SinglephaseorthreephaseAC外接制動(dòng)電阻Externalconnectiontobraking直流DC12V至 DC12V-伺服使能Servo清零AlarmCCW驅(qū)動(dòng)CCWdriverdisabledCW驅(qū)動(dòng)禁止CWdriverdisabledCCW轉(zhuǎn)矩限制CCWtorquelimitCW轉(zhuǎn)矩限制CWtorquelimit伺服準(zhǔn)備好Servo伺服Servo第二回零Thesecond伺服電機(jī)Servo伺服電機(jī)插座Servomotor抱閘松緊Band-typebrake轉(zhuǎn)矩模擬指令（-10V到+10V） ogcommand(-10V-指令脈沖PULS CommandpulsePULS指令脈沖SIGN CommandpulseSIGN反饋到控制單元Feedbacktocontrolunit信號(hào)地編碼器Signalgroundwireencoder伺服電機(jī)編插座Servomotorencoder編Z信號(hào)設(shè)備回零用EncoderZsignalusedforequipment層與外殼相連TheshieldinglayershouldbeconnectedtotheWiringDiagramforWireSavingMotorFigure3.4WiringDiagramforWireSavingMotor伺服驅(qū)動(dòng)器Servo伺服電機(jī)Servo伺服電機(jī)插座Servomotor省線式伺服電機(jī)編碼器WiresavingservomotorAwiresavingencodershouldbeselectedforservomotorsbelow80Acommonincrementalencodershouldbeselectedforservomotorsabove110series(seeFigure3.2).Recovertheautomaticrecognitionofthedriverwhentheadaptivemotorisdelivered.Itisnotnecessarytochangeparameters(seePage64).WiringDiagramfortheBand-typeBrakeoftheServo3.5抱閘電機(jī)接線圖Figure3.5WiringDiagramforBand-typeBrake伺服電 Servo抱閘線 Band-typebrakeDC12V到DC24V開(kāi)關(guān)量信號(hào)電源PowersupplyforDC12V-DC24VswitchingvaluesignalKA繼電器KArelayDO1000伺服驅(qū)動(dòng)器DO1000servo制動(dòng)電源DC12V到 DC12V-DC24VbrakingpowerPinPinFunction1DCpowersupplypositivepole2DCpowersupplynegativepole3HousinggroundTable3.1SocketforServoMotorBand-typeItisrequiredthattheband-typebrakebrakingpowersupplyshouldbeseparatedfromtheuppercomputerandtheDCpowersupplyofthedrivertopreventinterference.Thebrakingpowersupplyfortheband-typebrakehaspositiveandnegativepoles,whichshouldnotbeconnectedreverselytopreventshortcircuit.Inordertoimprovebrakingeffectandresponse,afly-wheeldiodemaybeaddedatbothendsofthebrakingcoil(payattentiontothepositiveandnegativepolesofthediode).SignalRControlcircuitandmaincircuitpowersupply(switchedinviatheisolationR,SandTcanbeconnectedtoaSignalRControlcircuitandmaincircuitpowersupply(switchedinviatheisolationR,SandTcanbeconnectedtoasignal-phaseorthree-phase220V50HZpowersupply.ThecontrolpowersupplyforthedriverandthepowersupplyforthemaincircuitaredesignedinanintegratedNotethatItshouldnotbeconnectedtoU,VandSTPowersupplygroundConnectedtotheequipmenthousingandthepowersupplyofthe brakingresistorsNormallynotused,becausethedriverhasabuilt-inExternallyconnectedbrakingresistorsareusedincaseofaloadwithlargeinertia.UOutputtotheservoU,VandWontheservoterminalsmustcorrespondtotheonesontheservomotorwithoutmisplacement.Incaseofincorrectconnection,themotorwillpulsate,theservowillalarm,andtheservoandmotorcouldbedamaged.NotethatitshouldnotconnectedwithR,SandVWMotorgroundConnectedtothePEforthehousingoftheservoDefinitionsofCN1InterfaceandControlSignalSignal supply +12V-+24VpowerSignal supply +12V-+24VpowerServoEnableWhen0Visswitchedoff,SONisOFF:Thedriverstopsandthemotorisinfreestate.When0Visswitchedon,SONisON:Thedriverworksandthemotorisinlockingstate.CommandscanbereceivedafterenablingforThissignalcannotbeswitchedonandofffrequentlyandusedforstartupandshutdownofthemotor.A-Alarmclearance/modeswitchingWhen0Visswitchedoff,A-CLRisOFFandthealarmdeviceisinnormalstateorkeepsanalarmstate.When0Visswitchedon,A-CLRisONandthealarmisWhenPA32=1,modeswitchingisTheservomotorisnotallowedtorotatetheterminalWhenParameterPA20=When0Visswitchedoff,FSLisOFFandtheservomotorcanrotatecounterclockwise.When0Visswitchedon,FSLisONandtheservomotorisnotallowedtorotatecounterclockwise.Havethesamefunctionwithalimitswitch;PA55canbesettonormalopenornormalclose.UsedincombinationwithParameterPA20.Whenis1,thisfunctionis TheservomotorisnotallowedtorotatetheterminalWhenParameterPA20=When0Visswitchedoff,FSRisOFFandtheservomotorcanrotateclockwise.When0Visswitchedon,FSRisONandtheservomotorisnotallowedtorotateclockwise.Havethesamefunctionwithalimitswitch;PA55canbesettonormalopenornormalclose.UsedincombinationwithParameterPA20.Whenis1,thisfunctionisDeviationcounterResetTerminal1ofthepositiondeviationUnderthemodeofpositioncontrol,namelywhen=When0Visswitchedoff,CLEisOFFandthecounterkeepsdisplayingthevalue.When0Visswitchedin,CLEisONandtheTerminal1for internalspeedsTerminal1forselectionofinternalspeedThemodeoftheinternalspeedwhenPA4=1and=FourtypesofinternalspeedsareselectedviathecombinationofSC1(Pin14)andSC2(Pin15)aswellasthemake-and-breakof0V.SC1OFF,SC2OFF:internalspeed1;SC1ON,SC2OFF:internalspeed2;SC1OFF,SC2ON:internalspeed3;SC1ON,SC2ON:internalspeed4;FourtypesofspeedscanbemodifiedviaPA24,PA26,and clamResetterminalfor ogvalueofspeedThemodeoftheexternalogspeedwhenPA4=1andPA22=1:ZEROisOFFwhen0Visswitchedoff,andthespeedcommandisanoginputvalue.ZEROisONwhen0Visswitchedon,andthecommandisresetto0-ExternalogvaluecontrolPA22=2;0-+10Vcontrolspositiverotation.Duringtorquecontrol,themotorislimitedtorotatetheterminalclockwise.When0Visswitchedon,thevalueofParameterPA38iseffective;otherwiseitisineffective.Duringtorquecontrol,ParameterPA34playsarolealltheCommandpulseThecommandpulsedisabledThemodeofexternalpositioncontrolwhenParameterPA4=0:When0Visswitchedoff,INHisOFFandthecommandpulseinputiseffective.When0Visswitchedon,INHisONandthepulseinputisTerminal2for internalspeedsTerminal2forselectionofinternalThemodeoftheinternalspeedwhenPA4=1and=Fourtypesofinternalspeeds(setviaPA24-PA27)areselectedviathecombinationofSC1(Pin14)andSC2(Pin15)aswellasthemake-and-breakof0V.SC1OFF,SC2OFF:internalspeed1;SC1ON,SC2OFF:internalspeed2;SC1OFF,SC2ON:internalspeed3;SC1ON,SC2ON:internalspeedDuringtorquecontrol,themotorislimitedtorotatetheterminalcounterclockwise.When0Visswitchedon,thevalueofParameterPA38iseffective;otherwiseitisineffective.Duringtorquecontrol,ParameterPA35playsaroleallthe0-Reverse controlsforwardPA22=20-8 Example:Pin8isconnectedto+24VandPin25toupperWhentheservoisinnormalstate,theuppercomputerabletoreceivetheelectricallevelofWhentheservoalarms,+24VisdisconnectedfromupperExample:Pin25isconnectedto0VandPin8toupperWhentheservoisinnormalstate,theuppercomputerabletoreceivetheelectricallevelofWhentheservoalarms,0Visdisconnectedfromuppercomputer(normalElectricallevelinversionornormalopen/normalswitchingcanbedoneviaParameterSignal Example:Pin26isconnectedto+24VandPin27totheuppercomputer.Whentheservoalarms,theuppercomputerisabletoreceivetheelectricallevelof+24V.Whentheservoisinnormalstate,+24Visdisconnectedfromtheuppercomputer.Example:Pin27isconnectedto0VandPin26totheuppercomputer.Whentheservoisinnormalstate,theuppercomputerisabletoreceivetheelectricallevelof0V.Whentheservoalarms,0Visdisconnectedfromtheuppercomputer(normalclose).Electricallevelinversionornormalopen/closeswitchingcanbedoneviaParameter reset(usedfordoneorspeedExample:Pin28isconnectedto+24VandPin29totheuppercomputer.Whenpositioningisdone,speedisreached,orinzeroposition,theuppercomputerisabletoreceivetheelectricallevelof+24V;otherwise+24Visdisconnectedfromtheuppercomputer.Example:Pin29isconnectedto0VandPin28totheuppercomputer.Whenpositioningisdone,speedisreached,orinzeroposition,theuppercomputerisabletoreceivetheelectricallevelof0V;otherwise0Visdisconnectedfromtheuppercomputer.Electricallevelinversionornormalopen/normalcloseswitchingcanbedoneviaParameterPA57.Primarilyusedforresetof801andnumericcontrolsinthemachinetool(band-typebrake)Theoutputendoftheband-typebrakeExample:Pin30isconnectedto+24VandPin31tothepositivepoleoftherelaycoil.Afterthemotorisenabled,thecoiloftheintermediaterelayisabletoreceivetheelectricallevelof+24V;otherwise+24Visdisconnectedfromtherelay.Example:Pin31isconnectedto0VandPin30tothenegativepoleoftherelaycoil.Afterthemotorisenabled,thecoiloftheintermediaterelayisabletoreceivetheelectricallevelof0V;otherwise0Visdisconnectedfromtherelay.Electricallevelinversionornormalopen/normalcloseswitchingcanbedoneviaParameterPA57.PA47isusedtosetdelayedswitchingonoftheband-typebrake.PA48isusedtosetenableddelayedswitchingDefinitionsofCN2interfaceandEncoderInputFigure4.2FrontElevationof26-corePlugSolderingTerminalofCN2Signal+5VpowersupplyfortheToprovidepowersupplyfortheencoder(viashieldedcables).0Vgroundwireforthe1A+inputfortheTobeconnectedtoA+oftheservo2A-inputfortheTobeconnectedtoA-oftheservo3A+inputfortheTobeconnectedtoB+oftheservo4A-inputfortheTobeconnectedtoB-oftheservo5A+inputfortheTobeconnectedtoZ+oftheservo6A-inputfortheTobeconnectedtoZ-oftheservo7UA+inputfortheTobeconnectedtoU+oftheservo8A-inputfortheTobeconnectedtoU-oftheservo9A+inputfortheTobeconnectedtoV+oftheservoA-inputfortheTobeconnectedtoV-oftheservoA+inputfortheTobeconnectedtoW+oftheservoA-inputfortheTobeconnectedtoW-oftheservoThegroundwirefortheshieldingTobeconnectedwiththehousing.Improveanti-interferencebyshortcircuitingPEwiththedigitalgroundwiretoensurereliablegrounding,accordingtodifferentupperPrincipleoftheInputInterfaceforSwitchingFigure4.3-aInputInterfaceforSwitchingServoTheinputinterfaceshouldbeexternallyconnectedtoapowersupplyofDC12V-24Vwithacurrentequaltoandmorethan105MA.Inverseconnectionofthepositiveandnegativepolesmaydamagethedriverandmakeitunabletoworknormally.PrincipleoftheOutputInterfaceforSwitchingFigure4.3-bOutputInterfaceforSwitchingServoTheumoutputvoltageis25VandtheumoutputcurrentisequaltoandlessthanInverseconnectionofthepositiveandnegativepolesmaydamagethedriverandmakeitunabletoworknormally.Theoutputloadisainductivecomponentwhichshouldbeinverselyconnectedinparallelwithafly-wheeldiode(Makesurethatthepolesareproperlyconnected;otherwisethedriverwillbedamaged.Inverseconnectionofthepolesisequaltoshortcircuit).PrincipleoftheInputInterfaceforPulseFigure4.4-aDifferentialOutputModeofServoFigure4.4-bSingle-endedOutputModeofServoThedifferentialoutputmodeofpulseisrelativelyreliable,soitissuggestedtouseAM26LS31andthelikethataresimilartoaRS422linedriver.Thepowersupplyisprovidedexternallyunderthesingle-endedoutputmodeandtheworkingfrequencywilllower.Thereareempiricaldatabelow:InputvoltageSeries1.4K-500Ω-80Ω-InputModeofInputModeCCWCWPulse+ParameterCCWpulseCWParameterAB-biphaseorthogonalpulseParameterPrincipeoftheinputinterface ogUpperServo AS+or AS-orFigure4.5-bInterfaceforogSingle-ended AS+or AS-orFigure4.5-cInputInterfaceforogDifferentialServo AS+or AS-orFigure4.5-dInputInterface ogSingle-ended電位器 AS-orTheinputvoltageofthe ogvalueshouldnotexceedtherangeof-10V-+10V;otherwisethedriverwillbe ogvaluehasadeviationindeed,becausewiresandtheinterfacecircuit,etc,weakenandareItissuggestedthatacablewithashieldinglayerbeusedforconnectionwithitsbothendsgrounded.ParameterPA49canbeusedtosetthethresholdvoltage(unit:rpm). ogvaluehasadeviationindeed,soitmustbeadjusted.ParameterPA45canbeusedtomakecompensateforthedeviationvalue.PrincipeofEncoderCN1OutputInterfaceforEncoderSignal(fromthedrivertotheupperFigure4.6CN1OutputInterfaceforUppercomputerThesignaloftheencoderpassesthedifferentialdriverAM26LS31andisnotannon-isolatedTheuppercomputercanreceivethesignalviaAM26LS32orahigh-speedCN2InputInterfaceforEncoderSignal(fromtheservomotortothe圖4.7CN2光電編輸入接Figure4.7CN2InputInterfaceforPhotoelectric伺服電機(jī)編ServomotorCN1OutputInterfaceforZsignaloftheEncoder(fromdriveroutputtozeroingbytheuppercomputer)Figure4.8CN1OutputInterfaceforZSignalofPhotoelectricUpperTheZsignalisanon-isolatedsignalwhichisoutputbytheopencircuitofthecollectingelectrode.TheZsignaloftheencoderhasconductionbutnocut-off.TheZsignalshouldbereceivedviaahigh-speedChapterChapterVDisplayandOperation←TheoperationpaneliscomprisedofsixLEDdigitaltubedisplaysandfour←keys↑,↓, andEnter,oneredlampAlm,andonegreenlamp,whichareusedtodisplayallkindsofstatusesofthesystemandtoset←Operationsarelayeredoperationsasfollows:referstotheback,exitandcancelofalayer;←

5.1操作面Figure5.1Operationreferstotheadvance,entryandconfirmationofthe↑and↓referstoincreasingordecreasingasequencenumberoraWhentheredindicatinglamp ison,itmeansthatthereisanalarm;andthealarmisdisplayedonthedigitalWhenthegreenindicatinglampRun,itmeansthemotorisinenableworkingWhenthedecimalpointsatthelowerrightcornerofthedigitaltube,itmeansaparameterisbeingWhentheredindicatinglampAlmisonandthealarmnumber―Err--xx‖isflashing,thereisadriverCutoffthepowersupplyandfindoutthecauseoftheComponentsofParameter←←Thefirstlayerisusedformodeselection.Therearetotallysevenmodes. toreturnthemain.Use←←StatusmonitoringParametermodification SpeedStatusmonitoringParametermodification Speedtrialrunogvalueauto-EncoderzeroingParametermanagement

toenterthesecondlayerofaselectedmode.

togobacktotheOpen-circuitoperationOpen-circuitoperationJOGoperationEE-DP-SPD--Motorspeed→r1000--1000DP-SPD--Motorspeed→r1000--1000DP-POS--Currentpositionlower5digit→P80829--80829pulsesDP-POS.--Currentpositionhigher5digit→ 11--110000DP-CPO--Positioncommandlower5digit→C81410--81410DP-CPO--Positioncommandhigher5digitDP-EPO--Positiondeviationlower5digitDP-EPO.--Positiondeviationhigher5→C22--220000→→9--90--0DP-TRQ—Motortorq