CD1-a系列全數(shù)字交流伺服驅(qū)動器使用說明書
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CD1-a系列全數(shù)字交流伺服驅(qū)動器使用說明書
CD1-a系列全數(shù)字交流伺服驅(qū)動器使用說明書
文本預(yù)覽
CD1-a 系列
全數(shù)字交流
伺服驅(qū)動器
INFRANOR?
CD1-a
1警 告
!
這是描述伺服驅(qū)動器系列的通用手冊，本系的列驅(qū)動器用來驅(qū)動交流無刷正弦伺服電機.
請在開始使用驅(qū)動器前，必須詳細(xì)閱讀手冊，以了解關(guān)于本產(chǎn)品儲存，使用，調(diào)試及技術(shù)細(xì)節(jié)等相關(guān)情況。
維護工作應(yīng)當(dāng)由非常熟練的技術(shù)人員來做，需要對電氣和各種伺服系統(tǒng)(EN 60204-1 standard)非常了解且使用正確的測試
設(shè)備。
與標(biāo)準(zhǔn)保持一致，只有按照本驅(qū)動手冊推薦的條目安裝才會獲得"CE"認(rèn)證. 如果推薦的要求沒有遵守，接線出現(xiàn)問題是用戶
的責(zé)任.
即使是斷電以后, 馬上與任何電氣部分的接觸, 都可以導(dǎo)致生理損害.
斷電后, 接觸驅(qū)動器前至少等待 5 分鐘(幾百伏的殘余電會保持幾分鐘).
ESD 信息 (釋放靜電)
INFRANOR 驅(qū)動器設(shè)計時考慮了周全的靜電保護. 然而, 一些部件是非常敏感的, 如果驅(qū)動器沒有正
確的存儲和使用可能會導(dǎo)致?lián)p壞.
存儲
- 驅(qū)動器必須存儲在原始包裝中.
- 從包裝中取出時, 必須以它一側(cè)水平金屬表面且能釋放靜電或電中性放置, 以防止靜電.
- 避免驅(qū)動接頭和帶靜電的材質(zhì)(塑料膜, 聚脂, 滌綸, 地毯…)接觸.
操作
- 如果沒有有效的保護設(shè)備（放靜電手鐲或鞋）, 驅(qū)動器要通過金屬殼接地.
- 不要觸碰接頭.
銷毀
為了遵守 2002/96/EC 歐洲議會及理事會1.27 2003 廢棄電子電氣設(shè)備(WEEE) 廢棄協(xié)議, 所有
INFRANOR 設(shè)備有銷毀符號, 標(biāo)準(zhǔn)按照附錄 IV 2002/96/EC 指標(biāo).
此符號表示 INFRANOR 設(shè)備必須有選則性的處理銷毀, 不能當(dāng)作標(biāo)準(zhǔn)廢棄物處理.
對于不適當(dāng)?shù)氖褂没蛘呙枋鲈斐傻奈锢砘驅(qū)嵸|(zhì)性的損害, INFRANOR不承擔(dān)任何責(zé)任.
進行手冊中沒有指出的任何涉及到其他權(quán)益的條目, 將立即取消保修條款.
Infranor 保留在不通告的情況下對手冊中內(nèi)容進行更改的權(quán)利.
? INFRANOR, JANUARY 2008. 版權(quán)所有
版本號: 8.8
2CD1-a
目錄
目錄....................................................................................................................................................................................3
第一章 – 概述..................................................................................................................................................................6
1 介紹...........................................................................................................................................................................6
2 適用標(biāo)準(zhǔn)...................................................................................................................................................................6
2.1概述.......................................................................................................................................................................6
2.2 符合標(biāo)準(zhǔn)CE規(guī)程...............................................................................................................................................7
2.3 獲得UL認(rèn)證.......................................................................................................................................................7
第二章 – 規(guī)格..................................................................................................................................................................8
1 技術(shù)規(guī)格.....................................................................................................................................................................8
1.1 CD1-a-230/I驅(qū)動器..............................................................................................................................................8
1.2 CD1-a-400/I驅(qū)動器..............................................................................................................................................8
2 拓補圖.......................................................................................................................................................................12
3 主要保護...................................................................................................................................................................13
報警錯誤表...............................................................................................................................................................13
4 尺寸...........................................................................................................................................................................14
4.1 CD1-a-230/I驅(qū)動器 4.2 CD1-a-400/1,8 ~ 7,2 A驅(qū)動器........................................................14
4.3 CD1-a-400/14 A驅(qū)動器 4.4 CD1-a-400/30/45/70和90 A驅(qū)動器................................................14
4.5制動電阻dp 100/100, dp 200/100, dp 50/200 及 dp 33/280和EF 400..........................................................15
5 安裝與緊固方式.....................................................................................................................................................16
5.1 CD1-a-230/I驅(qū)動器 5.2 CD1-a-400/1.8 ~ 7.2 A驅(qū)動器................................................................16
5.3 CD1-a-400/14 A驅(qū)動器 5.4 CD1-a-400/30/45/70與90 A驅(qū)動器........................................................16
6 在電器柜內(nèi)多軸安裝方式.....................................................................................................................................17
6.1 CD1-a-230/I 6.2 CD1-a-400/1.8 至 7.2A.........................................................................17
6.3 CD1-a-400/14A 6.4 CD1-a-400/30/45/70和90 A...............................................................17
第三章 – 輸入-輸出口...................................................................................................................................................18
1 接口位置...................................................................................................................................................................18
對所有電流等級的CD1-a-230/I 和 CD1-a-400/I驅(qū)動器都通用........................................................................18
2 X1: 選擇旋轉(zhuǎn)變壓器接口.....................................................................................................................................18
其它類型旋轉(zhuǎn)變壓器的連接，請參見 附錄.............................................................................................................18
3 X2: 命令信號接口，邏輯輸入及輸出，編碼器（25芯D型公接頭）...........................................................19
3.1 模擬輸入說明：CV+，CV- ，IIim.................................................................................................................20
3.2 邏輯光電輸入說明：ENABLE, FCP, FCN, RESET, CVO, CI.........................................................................20
3.3 AOK輸出說明....................................................................................................................................................20
3.4編碼器輸出的說明.............................................................................................................................................21
3.5 模擬量輸出說明................................................................................................................................................21
4 X3編碼器輸入接口.................................................................................................................................................21
4.1 X3接頭用于TTL 增量式編碼器和霍爾 (HES) 反饋輸入..........................................................................21
4.2 X3接頭用于正余弦(SinCos)增量式編碼器與霍爾(HES)反饋輸入..........................................................22
4.3 X3接頭用于絕對式單圈正余弦(SinCos)編碼器反饋輸入.........................................................................23
4.5 X3接頭用于Endat絕對式編碼器反饋輸入..................................................................................................25
4.6 X3接頭用于SinCos波形反饋輸入................................................................................................................26
4.7 X3用于"脈沖(PULSE) /方向(DIRECTION) " 輸入......................................................................................27
5 X5串行接口連接（D-SUB 9針公頭接頭）............................................................................................................27
6 X8輔助供電和抱閘控制接頭..................................................................................................................................27
3
ContentsCD1-a
對所有電流等級的CD1-A-230/I 和 CD1-A-400/I驅(qū)動器都通用............................................................................27
驅(qū)動器上4 針腳公頭接頭, 5.08 MM間距 (提供母頭插頭)......................................................................................27
7 X9強電接頭 ( 動力供電, 電機供電和制動電阻的連接 )....................................................................................28
第四章 – 接線................................................................................................................................................................29
1 接線圖.......................................................................................................................................................................29
1.1 CD1-a-230/I 伺服驅(qū)動器接線圖....................................................................................................................29
1.2 CD1-a-400/I 伺服驅(qū)動器接線圖.......................................................................................................................30
1.3串行通訊接口.....................................................................................................................................................31
1.4 24VDC輔助供電的后備電池連接方式............................................................................................................31
1.5多軸應(yīng)用時的連接方式.....................................................................................................................................32
2 接線要求...................................................................................................................................................................33
2.1地線連接和接地.................................................................................................................................................33
2.2 接頭的屏蔽層連接方式..................................................................................................................................34
2.3 CD1- a- 400 /30 /45 /70和90強電部分的接線.............................................................................................35
2.4電機, 旋轉(zhuǎn)變壓器和編碼器信號電纜..............................................................................................................35
2.5 輸入命令與串行通訊電纜................................................................................................................................36
2.6 制動電阻的接線................................................................................................................................................36
3.1使用緊固插座的連接方式.................................................................................................................................37
全數(shù)字交流
伺服驅(qū)動器
INFRANOR?
CD1-a
1警 告
!
這是描述伺服驅(qū)動器系列的通用手冊，本系的列驅(qū)動器用來驅(qū)動交流無刷正弦伺服電機.
請在開始使用驅(qū)動器前，必須詳細(xì)閱讀手冊，以了解關(guān)于本產(chǎn)品儲存，使用，調(diào)試及技術(shù)細(xì)節(jié)等相關(guān)情況。
維護工作應(yīng)當(dāng)由非常熟練的技術(shù)人員來做，需要對電氣和各種伺服系統(tǒng)(EN 60204-1 standard)非常了解且使用正確的測試
設(shè)備。
與標(biāo)準(zhǔn)保持一致，只有按照本驅(qū)動手冊推薦的條目安裝才會獲得"CE"認(rèn)證. 如果推薦的要求沒有遵守，接線出現(xiàn)問題是用戶
的責(zé)任.
即使是斷電以后, 馬上與任何電氣部分的接觸, 都可以導(dǎo)致生理損害.
斷電后, 接觸驅(qū)動器前至少等待 5 分鐘(幾百伏的殘余電會保持幾分鐘).
ESD 信息 (釋放靜電)
INFRANOR 驅(qū)動器設(shè)計時考慮了周全的靜電保護. 然而, 一些部件是非常敏感的, 如果驅(qū)動器沒有正
確的存儲和使用可能會導(dǎo)致?lián)p壞.
存儲
- 驅(qū)動器必須存儲在原始包裝中.
- 從包裝中取出時, 必須以它一側(cè)水平金屬表面且能釋放靜電或電中性放置, 以防止靜電.
- 避免驅(qū)動接頭和帶靜電的材質(zhì)(塑料膜, 聚脂, 滌綸, 地毯…)接觸.
操作
- 如果沒有有效的保護設(shè)備（放靜電手鐲或鞋）, 驅(qū)動器要通過金屬殼接地.
- 不要觸碰接頭.
銷毀
為了遵守 2002/96/EC 歐洲議會及理事會1.27 2003 廢棄電子電氣設(shè)備(WEEE) 廢棄協(xié)議, 所有
INFRANOR 設(shè)備有銷毀符號, 標(biāo)準(zhǔn)按照附錄 IV 2002/96/EC 指標(biāo).
此符號表示 INFRANOR 設(shè)備必須有選則性的處理銷毀, 不能當(dāng)作標(biāo)準(zhǔn)廢棄物處理.
對于不適當(dāng)?shù)氖褂没蛘呙枋鲈斐傻奈锢砘驅(qū)嵸|(zhì)性的損害, INFRANOR不承擔(dān)任何責(zé)任.
進行手冊中沒有指出的任何涉及到其他權(quán)益的條目, 將立即取消保修條款.
Infranor 保留在不通告的情況下對手冊中內(nèi)容進行更改的權(quán)利.
? INFRANOR, JANUARY 2008. 版權(quán)所有
版本號: 8.8
2CD1-a
目錄
目錄....................................................................................................................................................................................3
第一章 – 概述..................................................................................................................................................................6
1 介紹...........................................................................................................................................................................6
2 適用標(biāo)準(zhǔn)...................................................................................................................................................................6
2.1概述.......................................................................................................................................................................6
2.2 符合標(biāo)準(zhǔn)CE規(guī)程...............................................................................................................................................7
2.3 獲得UL認(rèn)證.......................................................................................................................................................7
第二章 – 規(guī)格..................................................................................................................................................................8
1 技術(shù)規(guī)格.....................................................................................................................................................................8
1.1 CD1-a-230/I驅(qū)動器..............................................................................................................................................8
1.2 CD1-a-400/I驅(qū)動器..............................................................................................................................................8
2 拓補圖.......................................................................................................................................................................12
3 主要保護...................................................................................................................................................................13
報警錯誤表...............................................................................................................................................................13
4 尺寸...........................................................................................................................................................................14
4.1 CD1-a-230/I驅(qū)動器 4.2 CD1-a-400/1,8 ~ 7,2 A驅(qū)動器........................................................14
4.3 CD1-a-400/14 A驅(qū)動器 4.4 CD1-a-400/30/45/70和90 A驅(qū)動器................................................14
4.5制動電阻dp 100/100, dp 200/100, dp 50/200 及 dp 33/280和EF 400..........................................................15
5 安裝與緊固方式.....................................................................................................................................................16
5.1 CD1-a-230/I驅(qū)動器 5.2 CD1-a-400/1.8 ~ 7.2 A驅(qū)動器................................................................16
5.3 CD1-a-400/14 A驅(qū)動器 5.4 CD1-a-400/30/45/70與90 A驅(qū)動器........................................................16
6 在電器柜內(nèi)多軸安裝方式.....................................................................................................................................17
6.1 CD1-a-230/I 6.2 CD1-a-400/1.8 至 7.2A.........................................................................17
6.3 CD1-a-400/14A 6.4 CD1-a-400/30/45/70和90 A...............................................................17
第三章 – 輸入-輸出口...................................................................................................................................................18
1 接口位置...................................................................................................................................................................18
對所有電流等級的CD1-a-230/I 和 CD1-a-400/I驅(qū)動器都通用........................................................................18
2 X1: 選擇旋轉(zhuǎn)變壓器接口.....................................................................................................................................18
其它類型旋轉(zhuǎn)變壓器的連接，請參見 附錄.............................................................................................................18
3 X2: 命令信號接口，邏輯輸入及輸出，編碼器（25芯D型公接頭）...........................................................19
3.1 模擬輸入說明：CV+，CV- ，IIim.................................................................................................................20
3.2 邏輯光電輸入說明：ENABLE, FCP, FCN, RESET, CVO, CI.........................................................................20
3.3 AOK輸出說明....................................................................................................................................................20
3.4編碼器輸出的說明.............................................................................................................................................21
3.5 模擬量輸出說明................................................................................................................................................21
4 X3編碼器輸入接口.................................................................................................................................................21
4.1 X3接頭用于TTL 增量式編碼器和霍爾 (HES) 反饋輸入..........................................................................21
4.2 X3接頭用于正余弦(SinCos)增量式編碼器與霍爾(HES)反饋輸入..........................................................22
4.3 X3接頭用于絕對式單圈正余弦(SinCos)編碼器反饋輸入.........................................................................23
4.5 X3接頭用于Endat絕對式編碼器反饋輸入..................................................................................................25
4.6 X3接頭用于SinCos波形反饋輸入................................................................................................................26
4.7 X3用于"脈沖(PULSE) /方向(DIRECTION) " 輸入......................................................................................27
5 X5串行接口連接（D-SUB 9針公頭接頭）............................................................................................................27
6 X8輔助供電和抱閘控制接頭..................................................................................................................................27
3
ContentsCD1-a
對所有電流等級的CD1-A-230/I 和 CD1-A-400/I驅(qū)動器都通用............................................................................27
驅(qū)動器上4 針腳公頭接頭, 5.08 MM間距 (提供母頭插頭)......................................................................................27
7 X9強電接頭 ( 動力供電, 電機供電和制動電阻的連接 )....................................................................................28
第四章 – 接線................................................................................................................................................................29
1 接線圖.......................................................................................................................................................................29
1.1 CD1-a-230/I 伺服驅(qū)動器接線圖....................................................................................................................29
1.2 CD1-a-400/I 伺服驅(qū)動器接線圖.......................................................................................................................30
1.3串行通訊接口.....................................................................................................................................................31
1.4 24VDC輔助供電的后備電池連接方式............................................................................................................31
1.5多軸應(yīng)用時的連接方式.....................................................................................................................................32
2 接線要求...................................................................................................................................................................33
2.1地線連接和接地.................................................................................................................................................33
2.2 接頭的屏蔽層連接方式..................................................................................................................................34
2.3 CD1- a- 400 /30 /45 /70和90強電部分的接線.............................................................................................35
2.4電機, 旋轉(zhuǎn)變壓器和編碼器信號電纜..............................................................................................................35
2.5 輸入命令與串行通訊電纜................................................................................................................................36
2.6 制動電阻的接線................................................................................................................................................36
3.1使用緊固插座的連接方式.................................................................................................................................37
AIGC"CD1-a系列全數(shù)字交流伺服驅(qū)動器使用說明書是一份詳細(xì)介紹該型號專業(yè)級伺服驅(qū)動產(chǎn)品的技術(shù)文檔。它包含了產(chǎn)品的主要功能、結(jié)構(gòu)特點、接線與安裝指南、參數(shù)設(shè)置方法、控制信號接口說明、電機類型及參數(shù)選擇、調(diào)試與運行注意事項、故障診斷與排除步驟等內(nèi)容。通過閱讀此手冊，用戶能夠全面理解并正確操作和維護CD1-a系列全數(shù)字交流伺服驅(qū)動器，確保其實現(xiàn)高精度、高效能的伺服系統(tǒng)控制，適用于各種工業(yè)自動化應(yīng)用場合，如精密加工、機器人、運動控制等領(lǐng)域。"
