CD1-k系列CANopen總線驅(qū)動(dòng)器安裝手冊(cè)
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CD1-k系列CANopen總線驅(qū)動(dòng)器安裝手冊(cè)
CD1-k系列CANopen總線驅(qū)動(dòng)器安裝手冊(cè)
文本預(yù)覽
CD1-k – Installation Guide
CD1-k 系列
安裝手冊(cè)
CANopen
總線驅(qū)動(dòng)器
INFRANOR?
CD1-k 1CD1-k- Installation guide
警 告
!
這是描述伺服驅(qū)動(dòng)器系列的通用手冊(cè)，本系的列驅(qū)動(dòng)器用來驅(qū)動(dòng)交流無刷正弦伺服電機(jī).
請(qǐng)參見 CD1-k User Guide 使用手冊(cè)，了解驅(qū)動(dòng)器的操作方法(調(diào)試, 配置, ...).
關(guān)于 CANopen 通信, 見手冊(cè) CD1-k – CANopen Communication Profile通訊協(xié)議.
請(qǐng)?jiān)陂_始使用驅(qū)動(dòng)器前，必須詳細(xì)閱讀手冊(cè)，以了解關(guān)于本產(chǎn)品儲(chǔ)存，使用，調(diào)試及技術(shù)細(xì)節(jié)等相關(guān)情況。
維護(hù)工作應(yīng)當(dāng)由非常熟練的技術(shù)人員來做，需要對(duì)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(cè)試設(shè)備。
與標(biāo)準(zhǔn)保持一致，只有按照本驅(qū)動(dòng)手冊(cè)推薦的條目安裝才會(huì)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(dòng)器前至少等待 5 分鐘(幾百伏的殘余電會(huì)保持幾分鐘).
E SD 信息 (釋放靜電)
IN FRANOR 驅(qū)動(dòng)器設(shè)計(jì)時(shí)考慮了周全的靜電保護(hù). 然而, 一些部件是非常敏感的, 如果驅(qū)動(dòng)器沒有正確
的存儲(chǔ)和使用可能會(huì)導(dǎo)致?lián)p壞.
存儲(chǔ)
- 驅(qū)動(dòng)器必須存儲(chǔ)在原始包裝中.
- 從包裝中取出時(shí), 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(dòng)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(hù)設(shè)備（放靜電手鐲或鞋）, 驅(qū)動(dòng)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(huì)及理事會(huì)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(hào), 標(biāo)準(zhǔn)按照附錄 IV 2002/96/EC 指標(biāo).
此符號(hào)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(duì)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(jìn)行手冊(cè)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(duì)手冊(cè)中內(nèi)容進(jìn)行更改的權(quán)利.
? INFRANOR, August 2008. 版權(quán)所有
版本號(hào): 5.7
2
CD1-k- Installation guideCD1-k – Installation Guide
目錄
PAGE
目錄.........................................................................................................................................................................3
第 1章 – 概況.........................................................................................................................................................5
1 – 介紹................................................................................................................................................................5
2 – 描述 / 符合的標(biāo)準(zhǔn).........................................................................................................................................5
2.1 – 通用描述.................................................................................................................................................5
2.2 – 標(biāo)準(zhǔn)參考: "CE" 認(rèn)證.............................................................................................................................6
2.3 – 參考標(biāo)準(zhǔn): "UL" 列表.............................................................................................................................6
3 – 調(diào)試所需其他文檔........................................................................................................................................6
第 2章 – 規(guī)格.........................................................................................................................................................7
1 – 主要技術(shù)數(shù)據(jù)................................................................................................................................................7
1.1 – CD1-k-230/I 單軸驅(qū)動(dòng)器.......................................................................................................................7
1.2 - CD1-K-400/I 單軸驅(qū)動(dòng)器.......................................................................................................................7
1.3 –CD1-k-230/I 和 CD1-k-400/I 驅(qū)動(dòng)器類型的通用規(guī)格..........................................................................8
2 – 尺寸..............................................................................................................................................................11
2.1 - CD1-k-230/I 驅(qū)動(dòng)器 2.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................11
2.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 2.4 - CD1-k-400/30/45/70和90 A 驅(qū)動(dòng)器.....................................11
2.5 – 制動(dòng)電阻 dp 100/100, dp 200/100, dp 50/200, dp33/280 和 Ef16.5/560.............................................12
3 – 安裝..............................................................................................................................................................13
3.1 - CD1-k-230/I 驅(qū)動(dòng)器 3.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................13
3.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 3.4 - CD1-k-400/30/45/70 和90 A 驅(qū)動(dòng)器........................................13
4 – 多軸電器柜安裝..........................................................................................................................................14
4.1 - CD1-k-230/I 驅(qū)動(dòng)器 4.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................14
4.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 4.4 - CD1-k-400/30/45/70 和 90 A 驅(qū)動(dòng)器.........................................14
第 3章 – 輸入-輸出口..........................................................................................................................................15
1 – 接頭位置......................................................................................................................................................15
1.1 – 單軸驅(qū)動(dòng)器 CD1-k-230-I 和 CD1-k-400-I...........................................................................................15
1.2 – CD1-k-400/30/45/70和90 驅(qū)動(dòng)器.......................................................................................................15
2 - LED 顯示......................................................................................................................................................16
2.1 –LEDs辯識(shí)..............................................................................................................................................16
3 – 驅(qū)動(dòng)器選址: 傳輸速度選擇........................................................................................................................17
4 - X1 接頭: 旋變傳感器...................................................................................................................................18
5 - X2 接頭: 輸入-輸出......................................................................................................................................18
5.1 – 邏輯輸入說明: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW SPEED...........................................19
5.2 -繼電器邏輯輸出 "AOK"規(guī)格................................................................................................................19
5.3 – 邏輯輸出說明.......................................................................................................................................19
5.4 – 模擬量輸入說明...................................................................................................................................20
6 - X3 接頭: 編碼器...........................................................................................................................................20
6.1 - X3 TTL 增量式編碼器 & HES 輸入 (接頭 D 25 針母頭)接口............................................................20
6.2 - X3 SinCos 增量式編碼器 & HES 輸入 (接頭 D 25 針腳母頭)接口...................................................21
6.3 – X3絕對(duì)式單圈 SinCos 編碼器 (接頭 D 25 針母頭)接口...................................................................22
6.7 - X3 "PULSE / DIRECTION" 輸入 (接頭 D 25 針母頭)接口................................................................25
6.8 - X3 編碼器輸出 (接頭 D 25 針腳母頭)接頭.........................................................................................26
7 - X6 和 X7 接頭: CAN-OPEN..........................................................................................................................26
3
ContentCD1-k- Installation Guide
8 - X5 接頭: RS-232...........................................................................................................................................26
9 - X8 接頭: 輔助供電和抱閘...........................................................................................................................27
10 - X9 接頭: 動(dòng)力............................................................................................................................................27
第 4章 – 接線.......................................................................................................................................................28
1 – 接線圖..........................................................................................................................................................28
1.1 – CD1-k-230/I 驅(qū)動(dòng)器.............................................................................................................................28
1.2 – CD1-k-400/I 驅(qū)動(dòng)器.............................................................................................................................29
1.3 – 串行連接...............................................................................................................................................30
1.4 – 后備電池連接.......................................................................................................................................30
1.5 – 多軸應(yīng)用連接.......................................................................................................................................31
2 – 接線建議......................................................................................................................................................31
2.1 – 地線連接和接地...................................................................................................................................31
2.2 – 接頭的屏蔽連接...................................................................................................................................32
CD1-k 系列
安裝手冊(cè)
CANopen
總線驅(qū)動(dòng)器
INFRANOR?
CD1-k 1CD1-k- Installation guide
警 告
!
這是描述伺服驅(qū)動(dòng)器系列的通用手冊(cè)，本系的列驅(qū)動(dòng)器用來驅(qū)動(dòng)交流無刷正弦伺服電機(jī).
請(qǐng)參見 CD1-k User Guide 使用手冊(cè)，了解驅(qū)動(dòng)器的操作方法(調(diào)試, 配置, ...).
關(guān)于 CANopen 通信, 見手冊(cè) CD1-k – CANopen Communication Profile通訊協(xié)議.
請(qǐng)?jiān)陂_始使用驅(qū)動(dòng)器前，必須詳細(xì)閱讀手冊(cè)，以了解關(guān)于本產(chǎn)品儲(chǔ)存，使用，調(diào)試及技術(shù)細(xì)節(jié)等相關(guān)情況。
維護(hù)工作應(yīng)當(dāng)由非常熟練的技術(shù)人員來做，需要對(duì)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(cè)試設(shè)備。
與標(biāo)準(zhǔn)保持一致，只有按照本驅(qū)動(dòng)手冊(cè)推薦的條目安裝才會(huì)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(dòng)器前至少等待 5 分鐘(幾百伏的殘余電會(huì)保持幾分鐘).
E SD 信息 (釋放靜電)
IN FRANOR 驅(qū)動(dòng)器設(shè)計(jì)時(shí)考慮了周全的靜電保護(hù). 然而, 一些部件是非常敏感的, 如果驅(qū)動(dòng)器沒有正確
的存儲(chǔ)和使用可能會(huì)導(dǎo)致?lián)p壞.
存儲(chǔ)
- 驅(qū)動(dòng)器必須存儲(chǔ)在原始包裝中.
- 從包裝中取出時(shí), 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(dòng)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(hù)設(shè)備（放靜電手鐲或鞋）, 驅(qū)動(dòng)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(huì)及理事會(huì)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(hào), 標(biāo)準(zhǔn)按照附錄 IV 2002/96/EC 指標(biāo).
此符號(hào)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(duì)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(jìn)行手冊(cè)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(duì)手冊(cè)中內(nèi)容進(jìn)行更改的權(quán)利.
? INFRANOR, August 2008. 版權(quán)所有
版本號(hào): 5.7
2
CD1-k- Installation guideCD1-k – Installation Guide
目錄
PAGE
目錄.........................................................................................................................................................................3
第 1章 – 概況.........................................................................................................................................................5
1 – 介紹................................................................................................................................................................5
2 – 描述 / 符合的標(biāo)準(zhǔn).........................................................................................................................................5
2.1 – 通用描述.................................................................................................................................................5
2.2 – 標(biāo)準(zhǔn)參考: "CE" 認(rèn)證.............................................................................................................................6
2.3 – 參考標(biāo)準(zhǔn): "UL" 列表.............................................................................................................................6
3 – 調(diào)試所需其他文檔........................................................................................................................................6
第 2章 – 規(guī)格.........................................................................................................................................................7
1 – 主要技術(shù)數(shù)據(jù)................................................................................................................................................7
1.1 – CD1-k-230/I 單軸驅(qū)動(dòng)器.......................................................................................................................7
1.2 - CD1-K-400/I 單軸驅(qū)動(dòng)器.......................................................................................................................7
1.3 –CD1-k-230/I 和 CD1-k-400/I 驅(qū)動(dòng)器類型的通用規(guī)格..........................................................................8
2 – 尺寸..............................................................................................................................................................11
2.1 - CD1-k-230/I 驅(qū)動(dòng)器 2.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................11
2.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 2.4 - CD1-k-400/30/45/70和90 A 驅(qū)動(dòng)器.....................................11
2.5 – 制動(dòng)電阻 dp 100/100, dp 200/100, dp 50/200, dp33/280 和 Ef16.5/560.............................................12
3 – 安裝..............................................................................................................................................................13
3.1 - CD1-k-230/I 驅(qū)動(dòng)器 3.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................13
3.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 3.4 - CD1-k-400/30/45/70 和90 A 驅(qū)動(dòng)器........................................13
4 – 多軸電器柜安裝..........................................................................................................................................14
4.1 - CD1-k-230/I 驅(qū)動(dòng)器 4.2 - CD1-k-400/1.8 到 7.2 A 驅(qū)動(dòng)器..........................................................14
4.3 - CD1-k-400/14 A 驅(qū)動(dòng)器 4.4 - CD1-k-400/30/45/70 和 90 A 驅(qū)動(dòng)器.........................................14
第 3章 – 輸入-輸出口..........................................................................................................................................15
1 – 接頭位置......................................................................................................................................................15
1.1 – 單軸驅(qū)動(dòng)器 CD1-k-230-I 和 CD1-k-400-I...........................................................................................15
1.2 – CD1-k-400/30/45/70和90 驅(qū)動(dòng)器.......................................................................................................15
2 - LED 顯示......................................................................................................................................................16
2.1 –LEDs辯識(shí)..............................................................................................................................................16
3 – 驅(qū)動(dòng)器選址: 傳輸速度選擇........................................................................................................................17
4 - X1 接頭: 旋變傳感器...................................................................................................................................18
5 - X2 接頭: 輸入-輸出......................................................................................................................................18
5.1 – 邏輯輸入說明: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW SPEED...........................................19
5.2 -繼電器邏輯輸出 "AOK"規(guī)格................................................................................................................19
5.3 – 邏輯輸出說明.......................................................................................................................................19
5.4 – 模擬量輸入說明...................................................................................................................................20
6 - X3 接頭: 編碼器...........................................................................................................................................20
6.1 - X3 TTL 增量式編碼器 & HES 輸入 (接頭 D 25 針母頭)接口............................................................20
6.2 - X3 SinCos 增量式編碼器 & HES 輸入 (接頭 D 25 針腳母頭)接口...................................................21
6.3 – X3絕對(duì)式單圈 SinCos 編碼器 (接頭 D 25 針母頭)接口...................................................................22
6.7 - X3 "PULSE / DIRECTION" 輸入 (接頭 D 25 針母頭)接口................................................................25
6.8 - X3 編碼器輸出 (接頭 D 25 針腳母頭)接頭.........................................................................................26
7 - X6 和 X7 接頭: CAN-OPEN..........................................................................................................................26
3
ContentCD1-k- Installation Guide
8 - X5 接頭: RS-232...........................................................................................................................................26
9 - X8 接頭: 輔助供電和抱閘...........................................................................................................................27
10 - X9 接頭: 動(dòng)力............................................................................................................................................27
第 4章 – 接線.......................................................................................................................................................28
1 – 接線圖..........................................................................................................................................................28
1.1 – CD1-k-230/I 驅(qū)動(dòng)器.............................................................................................................................28
1.2 – CD1-k-400/I 驅(qū)動(dòng)器.............................................................................................................................29
1.3 – 串行連接...............................................................................................................................................30
1.4 – 后備電池連接.......................................................................................................................................30
1.5 – 多軸應(yīng)用連接.......................................................................................................................................31
2 – 接線建議......................................................................................................................................................31
2.1 – 地線連接和接地...................................................................................................................................31
2.2 – 接頭的屏蔽連接...................................................................................................................................32
AIGC"CD1-k系列CANopen總線驅(qū)動(dòng)器安裝手冊(cè)" 是針對(duì)特定型號(hào)的電氣產(chǎn)品——CANopen通信技術(shù)的控制器或接口設(shè)備，即CD1-k系列產(chǎn)品。該手冊(cè)詳細(xì)介紹了如何正確、安全地將此類驅(qū)動(dòng)器集成到一個(gè)系統(tǒng)中，包括但不限于硬件連接步驟、電源配置、信號(hào)線敷設(shè)、初始化設(shè)置、協(xié)議棧配置、應(yīng)用軟件編程、錯(cuò)誤處理和診斷方法等內(nèi)容。用戶在進(jìn)行設(shè)備安裝、調(diào)試及日常維護(hù)時(shí)，應(yīng)參照此手冊(cè)以確保系統(tǒng)的穩(wěn)定運(yùn)行和遵循CANopen標(biāo)準(zhǔn)通信規(guī)范。
