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Delta_IA-ASD_ASDA-E3_UM_SC_20221202
i
序言
感谢您使用本产品，本使用手册提供 ASDA-E3 系列伺服驱动器(简称 E3)及 ECM-E3 系列伺服电机
相关信息。
本手册内容
◼ 伺服驱动器和伺服电机的安装与检查
◼ 伺服架构及相关配线图
◼ 试运转操作步骤
◼ 伺服调机教学
◼ 参数说明
◼ 通讯协议说明
◼ 异警排除
ASDA-E3 产品特色
◼ 新一代控制算法：可克服机构上刚性不足或挠性结构的问题。
◼ 自动调机功能：供无控制理论背景的操作人员，轻松完成调机。
◼ 便利的增益调整功能：自动侦测惯量的变化，提高控制的精准度。
如何使用本操作手册
您可视本手册为学习使用伺服驱动器之参考信息，手册将告诉您如何安装、设定、使用及
维护本产品。在开始调机或设定前，请先阅读第一章到第五章。
台达电子技术服务
如果您在使用上仍有问题，欢迎洽询经销商或本公司客服中心。
ii
安全注意事项
ASDA-E3 为一高解析开放型(Open type)的伺服驱动器，操作时须安装于屏蔽式的控制箱内。本产
品利用精密的回授控制及结合高速运算能力的数字信号处理器(Digital Signal Processor, DSP)，来
控制 IGBT 产生精确之电流输出，并驱动三相永磁式同步交流伺服电机(PMSM)以达到精准的定位。
ASDA-E3 系列可使用于工业应用场合上，且建议安装于使用手册中之配线(电)箱环境(驱动器、线材
及电机都必须安装于符合 UL 环境等级 1 的安装环境最低要求规格)。
在接收检验、安装、配线、操作、维护及检查时，应随时注意以下安全注意事项。
标志「危险」、「警告」及「禁止」代表之涵义：
意指可能潜藏危险，若未遵守可能会对人员造成严重或致命的伤害。
意指可能潜藏危险，若未遵守可能会对人员造成中度的伤害，或导致产品严重损坏，
或甚至故障。
意指绝对禁止的行动，若未遵守可能会导致产品损坏，或甚至故障而无法使用。
接收检验
安装注意
配线注意
请照指定方式搭配使用 E3 驱动器及伺服电机，否则可能导致火灾或设备故障。
禁止将本产品暴露在有水气、腐蚀性气体、可燃性气体等物质的场所下使用，否则
可能会造成触电或火灾。
◼ 请将接地保护端子连接到 class-3 (100Ω 以下)接地系统，接地不良可能造成触电
或火灾。
◼ 请勿连接三相电源至 U、V、W 电机输出端子，否则可能造成人员受伤或火灾。
◼ 请压紧电源及电机输出端子的固定螺丝，否则可能造成火灾。
◼ 配线时，请参照线材选择进行配线，避免危险事件发生。
iii
操作注意
保养及检查
◼ 机械设备开始运转前，须配合其用户参数调整设定值。若未调整到相符的正确
设定值，可能会导致机械设备运转失去控制或发生故障。
◼ 机器开始运转前，请确认是否可以随时启动紧急停机装置。
◼ 上电时，请确保电机轴心保持静止，不会因机构惯性或其它因素而转动。
当电机运转时，禁止接触任何旋转中的电机零件，否则可能造成人员受伤。
◼ 为避免意外事故，第一次试运转时，请卸下所有机构，使其在电机无负载状态下
进行。
◼ 在伺服电机和机械设备连接运转后，如果发生操作错误，会造成机械设备的
损坏，还可能导致人身伤害。
◼ 强烈建议：请先在无负载情况下，测试伺服电机是否正常运作，再接上负载，
以避免不必要的危险。
◼ 运转时，请勿触摸伺服驱动器之散热片，否则可能造成烫伤。
◼ 禁止接触伺服驱动器及伺服电机内部，否则可能造成触电。
◼ 电源启动时，禁止拆下驱动器面板，否则可能造成触电。
◼ 电源关闭后，不得接触接线端子，残余电压可能造成触电，请等待充电灯熄灭
才可接触。
◼ 不得拆开伺服电机，否则可能会造成触电或人员受伤。
◼ 不得在开启电源情况下改变配线，否则可能造成触电或人员受伤。
◼ 只有合格的电机专业人员才可以安装、配线及修理保养伺服驱动器以及伺服
电机。
iv
主电路配线
主电路端子台配线
漏电电流
注:各版本内容若略有差异，请以台达网站(https://www.delta-china.com.cn/zh-CN/solutions/Industrial-AutomationSolutions/ALL/)最新公布信息为主。
◼ 请勿将动力线和信号线放置在同一配线槽内，也不要将其绑扎在一起。配线时，
请将动力线和信号线相隔 30 厘米(11.8 英吋)以上。
◼ 对于信号线、编码器(PG)反馈线，请使用多股绞合线以及多芯绞合整体屏蔽线。
对于配线长度，信号输入线最长为 3 米(9.84 英呎)，PG 反馈线最长为 20 米
(65.62 英呎)。
◼ 即使关闭电源，伺服驱动器内部仍然可能会滞留高电压，请确认「CHARGE」
指示灯熄灭以后，再进行检查作业。
请勿频繁地开关电源。如需连续开关电源，请控制在一分钟一次以下。
◼ 配线时，请将端子台的螺丝确实压紧。
◼ 配线时，请不要使芯线与邻近的电线短路。
◼ 上电之前，请确实检查配线是否正确。
◼ 伺服驱动器的漏电电流大于 3.5 mA。
◼ 根据 IEC 61800-5-1 的规范，必须符合下列其中一种线材规格，以落实保护性
接地。
1. 线材选用截面积大于 10 mm2的铜线。
2. 线材选用截面积大于 16 mm2的铝线。
◼ 未符合规范可能导致人身伤害。
◼ 上电之前，请确实检查配线是否正确。
目录
使用前
产品型号说明
1.1 系统安装需求 ··································································································1-2
1.2 产品型号对照 ··································································································1-3
1.2.1 铭牌说明 ··································································································1-3
1.2.2 型号说明 ··································································································1-5
ASDA-E3 伺服驱动器··················································································1-5
ECM-E3 系列伺服电机 ················································································1-7
1.3 ASDA-E3 伺服驱动器与伺服电机对应参照表 ··························································1-9
1.4 ASDA-E3 伺服驱动器各部名称 ··········································································1-10
1.4.1 E3-L 机种 ·······························································································1-10
1.4.2 E3-E 机种·······························································································1-11
安装
2.1 储存环境条件 ··································································································2-2
2.2 安装环境条件 ··································································································2-2
2.3 驱动器安装方向与空间·······················································································2-3
2.4 电机安全预防措施 ····························································································2-5
2.4.1 电机动作、状态的故障分析排除表··································································2-8
2.4.2 电机安装方向注意事项 ················································································2-9
2.4.3 使用油封电机的注意事项 2-10
2.4.4 使用联轴器的注意事项 ··············································································2-11
2.4.5 电机油水对策注意事项 ··············································································2-12
2.4.6 抑制伺服电机温升的措施 ···········································································2-13
2.5 断路器、电磁接触器与保险丝建议规格表·····························································2-14
2.6 EMC 安装条件 ·······························································································2-15
2.6.1 电磁干扰滤波器 (EMI Filters)······································································2-16
2.7 回生电阻的选择方法 218
2.8 电磁抱闸的使用 ·····························································································2-23
2.9 线材的使用 ···································································································2-25
2
1
配线
3.1 台达系统配线 ··································································································3-3
3.1.1 外围装置接线图 (连接台达伺服通讯型电机) ·····················································3-3
3.1.2 驱动器的连接器与端子 ················································································3-5
3.1.3 电源接线法 ·······························································································3-6
3.1.4 ASDA-E3 驱动器 U、V、W 连接头规格···························································3-8
3.1.4.1 F40 ~ F80 动力接头··············································································3-9
3.1.4.2 F130 动力接头···················································································3-10
3.1.4.3 F180 动力接头···················································································3-12
3.1.5 编码器引出线的连接头规格 ········································································3-14
3.1.5.1 F40 ~ F80 编码器接头·········································································3-14
3.1.5.2 F130 ~ F180 编码器接头······································································3-17
3.1.6 线材的选择 ·····························································································3-21
3.1.6.1 线径 / 端子台规格 / 锁附扭力规格························································3-21
3.1.6.2 编码器线材规格 ·················································································3-23
3.1.6.3 动力线材规格 ····················································································3-23
3.1.6.4 耐挠曲线材规格 ·················································································3-25
3.1.7 IP67 接头配线说明 ···················································································3-26
3.1.7.1 F130 ~ F180 机种配线安装说明·····························································3-26
3.1.7.2 防水接头胶圈规格 ··············································································3-27
3.2 伺服系统基本方块图 ·······················································································3-28
3.3 CN1 I/O 信号接线···························································································3-30
3.3.1 CN1 I/O 连接器端子 (L 机种) ······································································3-30
3.3.2 CN1 I/O 连接器信号说明 (L 机种) ································································3-32
3.3.3 应用：使用 CN1 便利接头配线 (L 机种) ························································3-36
3.3.4 CN1 I/O 连接器端子 (E 机种)······································································3-39
3.3.5 CN1 I/O 连接器信号说明 (E 机种)································································3-40
3.3.6 CN1 界面接线图·······················································································3-43
3.4 CN2 编码器信号接线·······················································································3-49
3.5 CN3 通讯端口信号接线3-53
3.6 CN4 串行通讯端口 (Mini USB) (E 机种) ······························································3-55
3.7 CN6 通讯端口信号接线 (E 机种)········································································3-56
3.8 标准接线方式 ································································································3-59
3.8.1 位置(PT)模式标准接线 - 差分脉冲信号·························································3-59
3.8.2 位置(PT)模式标准接线 - 开集极脉冲信号······················································3-60
3.8.3 位置(PR)模式标准接线 - 内部位置命令 ························································3-61
3.8.4 速度(S)模式标准接线 3-62
3.8.5 扭矩(T)模式标准接线3-63
3.8.6 EtherCAT 通讯模式标准接线·······································································3-64
3
试运转与面板操作
4.1 面板组件名称 ··································································································4-2
4.2 参数设定流程 ··································································································4-3
4.3 状态显示 ········································································································4-6
4.3.1 储存设定显示 ····························································································4-6
4.3.2 小数点显示 ·······························································································4-6
4.3.3 警示讯息显示 ····························································································4-7
4.3.4 正负号设定显示 ·························································································4-7
4.3.5 监控显示 ··································································································4-7
4.3.6 断电后显示 ·······························································································4-9
4.4 一般功能操作 ································································································4-10
4.4.1 异常状态记录显示操作 ··············································································4-10
4.4.2 强制数字输出操作 ····················································································4-11
4.4.3 数字输入诊断操作 ····················································································4-12
4.4.4 数字输出诊断操作 ····················································································4-12
4.5 试运转 ·········································································································4-13
4.5.1 无负载检测 ·····························································································4-13
4.5.2 驱动器送电 ·····························································································4-14
4.5.3 空载寸动测试 ··························································································4-18
4.5.4 空载速度测试 ··························································································4-20
4.5.5 空载定位测试 ··························································································4-22
如何调机
调机
5.1 调机流程和使用模式 ·························································································5-2
5.1.1 调机步骤流程图 ·························································································5-2
5.1.2 调整模式差异表 ·························································································5-3
5.2 自动调机 ········································································································5-5
5.2.1 自动调机流程图 ·························································································5-6
5.2.2 自动调机-面板操作 ·····················································································5-7
5.2.3 自动调机-软件 ASDA-Soft 操作······································································5-8
5.2.4 自动调机相关异警 514
5.3 增益调整模式 ································································································5-15
5.3.1 增益调整模式流程 ····················································································5-15
5.3.2 增益调整模式 1 ························································································5-16
5.3.3 增益调整模式 2 ························································································5-16
5.3.4 增益调整模式 3 ························································································5-17
5.3.5 带宽响应层级 (调整刚性) ···········································································5-18
5
4
5.3.6 命令响应增益 (调整响应) ···········································································5-19
5.4 手动调整增益参数 ··························································································5-20
5.5 机械共振的处理 ·····························································································5-22
控制机能
6.1 控制模式选择 ··································································································6-3
6.2 位置模式 ········································································································6-5
6.2.1 PT 模式位置命令························································································6-5
6.2.2 PR 模式位置命令 ·······················································································6-5
6.2.3 位置模式控制架构 ······················································································6-6
6.2.4 位置 S 形平滑器·························································································6-7
6.2.5 电子齿轮比 ·······························································································6-9
6.2.6 低通滤波器 ·····························································································6-10
6.2.7 位置模式(PR)时序图 ·················································································6-10
6.2.8 位置回路增益调整 ····················································································6-11
6.2.9 位置模式低频抑振 ····················································································6-12
6.3 速度模式 ······································································································6-15
6.3.1 速度命令的选择 ·······················································································6-15
6.3.2 速度模式控制架构 ····················································································6-16
6.3.3 速度命令的平滑处理 ·················································································6-17
6.3.4 模拟量速度命令比例器 ··············································································6-19
6.3.5 速度模式时序图 ·······················································································6-20
6.3.6 速度回路增益调整 ····················································································6-21
6.3.7 共振抑制单元 ··························································································6-23
6.4 扭矩模式 ······································································································6-26
6.4.1 扭矩命令的选择 ·······················································································6-26
6.4.2 扭矩模式控制架构 ····················································································6-27
6.4.3 扭矩命令的平滑处理 ·················································································6-27
6.4.4 模拟量扭矩命令比例器 ··············································································6-28
6.4.5 扭矩模式时序图 ·······················································································6-29
6.5 混合模式 6-30
6.5.1 速度/位置混合模式····················································································6-31
6.5.2 速度/扭矩混合模式····················································································6-32
6.5.3 扭矩/位置混合模式····················································································6-33
6.6 其他 ···········································································································6-34
6.6.1 速度限制的使用 ·······················································································6-34
6.6.2 扭矩限制的使用 6-34
6.6.3 模拟量监控 6-35
如何操作与设定
6
运动控制功能说明
7.1 PR 模式说明 ···································································································7-2
7.1.1 PR 共用参数资料 ·······················································································7-4
7.1.2 PR 模式相关监控变量··················································································7-6
7.1.3 运动控制命令模式 ······················································································7-9
7.1.3.1 原点复归模式 ······················································································7-9
7.1.3.2 速度命令 ··························································································7-21
7.1.3.3 位置命令 ··························································································7-23
7.1.3.4 程序跳转命令 ····················································································7-26
7.1.3.5 写入命令 ··························································································7-28
7.1.3.6 分度位置命令 ····················································································7-30
7.1.4 PR 程序表示方法 ·····················································································7-34
7.1.5 PR 命令触发方式 ·····················································································7-40
7.1.6 PR 程序执行流程 ·····················································································7-44
参数与功能
8.1 参数定义 ········································································································8-2
8.2 参数一览表 ·····································································································8-3
8.3 参数说明 ······································································································8-18
P0.xxx 监控参数 ······························································································8-18
P1.xxx 基本参数 ······························································································8-35
P2.xxx 扩充参数 ······························································································8-73
P3.xxx 通讯参数 ····························································································8-108
P4.xxx 诊断参数 ···························································································· 8-116
P5.xxx Motion 设定参数 ··················································································8-126
P6.xxx PR 路径定义参数 ·················································································8-149
P7.xxx PR 路径定义参数 ·················································································8-177
表 8.1 数字输入(DI)功能定义表 8-202
表 8.2 数字输出(DO)功能定义表 ·······································································8-210
表 8.3 监控变量说明 ······················································································8-216
参数设定
8
7
Modbus 通讯
9.1 Modbus 通讯硬件接口 ·······················································································9-2
9.2 Modbus 通讯参数设定 ·······················································································9-4
9.3 Modbus 通讯协议 ·····························································································9-4
9.4 通讯参数的写入与读取·····················································································9-14
9.5 RS-485 通讯规格····························································································9-15
EtherCAT 模式
10.1 基本配置·····································································································10-3
10.1.1 硬件相关配置·························································································10-3
10.1.2 ESI 档案汇入 ·························································································10-6
10.1.3 EtherCAT 模式的参数设定 ········································································10-7
10.2 通讯功能··································································································· 10-11
10.2.1 规格··································································································· 10-11
10.2.2 同步模式 (DC) ·····················································································10-13
10.2.2.1 伺服驱动器同步模式········································································10-13
10.2.2.2 同步模式选择·················································································10-14
10.2.2.3 同步时钟设定·················································································10-14
10.2.3 状态机 (EtherCAT State Machine) ···························································10-15
10.2.4 PDO 映像配置 ·····················································································10-17
10.2.4.1 默认 PDO 映像配置·········································································10-17
10.2.4.2 设定 PDO 映射···············································································10-19
10.2.4.3 PDO 映像物件 ···············································································10-20
10.2.4.4 SDO 异常码 (Abort Code) ································································10-21
10.3 ETHERCAT 操作模式 10-22
10.3.1 Profile Position Mode (位置规划模式)························································10-22
10.3.2 Profile Velocity Mode (速度规划模式) ························································10-27
10.3.3 Profile Torque Mode (扭矩规划模式) ·························································10-29
10.3.4 Homing Mode (原点复归模式) ·································································10-31
10.3.5 Cyclic Synchronous Position Mode (周期同步位置模式) ································10-33
10.3.6 Cyclic Synchronous Velocity Mode (周期同步速度模式) 10-35
10.3.7 Cyclic Synchronous Torque Mode (周期同步扭矩模式)··································10-37
10.3.8 Touch Probe (位置抓取功能与位置抓取状态) ··············································10-39
10.4 OBJECT DICTIONARY 对象字典 ···································································10-44
10.4.1 对象详述 (Specifications for Objects)························································10-44
10.4.2 物件一览表··························································································10-45
10.4.3 对象详细数据·······················································································10-47
10.4.3.1 OD 1XXXh 通讯对象群组 10-47
10.4.3.2 OD 2XXXh 伺服参数群组 10-55
10
9
10.4.3.3 OD 6XXXh 通讯对象群组 ·································································10-56
10.5 疑难解答··································································································10-105
10.5.1 EtherCAT 诊断系统 ··············································································10-105
10.5.2 错误异警码·························································································10-106
异警排除
11.1 异警一览表··································································································11-3
通用类········································································································11-3
运动控制命令类····························································································11-6
通讯类········································································································11-7
11.2 异警原因与处置 ····························································································11-8
规格
A.1 ASDA-E3 伺服驱动器·······················································································A-2
A.1.1 驱动器标准规格 ························································································A-2
A.1.2 伺服驱动器外型尺寸 ··················································································A-5
A.2 ECM-E3 系列伺服电机 ·····················································································A-9
A.2.1 ECM-E3 系列伺服电机 ··············································································A-11
电机 80 框号 (含) 以下系列 ·······································································A-11
电机 130 框号与 180 框号系列 ····································································A-13
A.2.2 E3 电机扭矩特性 (T-N 曲线)·······································································A-15
电机 80 框号(含)以下系列 ··········································································A-15
电机 130 框号系列····················································································A-16
电机 180 框号系列····················································································A-16
A.2.3 E3 电机额定值降低率················································································A-17
A.2.4 过负载之特性 A-18
A.2.5 ECM-E3 伺服电机外型尺寸 ········································································A-19
电机 80 框号 (含) 以下系列 ·······································································A-19
电机 130 框号与 180 框号系列 ····································································A-20
如何排除问题
A
附录
11
配件
B.1 驱动侧编码器接头 ···························································································B-2
B.2 电机侧接头 ····································································································B-2
B.2.1 F40 ~ F80 机种（组合接头）·······································································B-2
B.2.2 F130 ~ F180 机种（电机侧编码器接头） ·······················································B-3
B.2.3 F130 机种（电机侧动力接头）·····································································B-4
B.2.4 F180 机种（电机侧动力接头）·····································································B-5
B.2.5 F130 ~ F180 抱闸接头 ···············································································B-6
B.3 动力线 ··········································································································B-7
B.3.1 F40 ~ F80 机种·························································································B-7
B.3.2 F130 机种 ·······························································································B-8
B.3.3 F180 机种 ······························································································B-10
B.4 增量型编码器连接线 ·······················································································B-12
B.4.1 F40 ~ F80 机种························································································B-12
B.4.2 F130 ~ F180 机种 ····················································································B-12
B.5 绝对型编码器连接线 ·······················································································B-13
B.5.1 F40 ~ F80 机种························································································B-13
B.5.2 F130 ~ F180 机种 ····················································································B-13
B.6 电池盒连接线 ································································································B-14
B.7 绝对型电池盒 ································································································B-15
B.8 CN1 连接器端子 ····························································································B-16
B.9 CN1 快速接头 ·······························································································B-16
B.10 CN1 端子台模块···························································································B-17
B.11 E3 / B2 转换线 ·····························································································B-18
B.12 CN3 Modbus 通讯端口信号接线 ······································································B-19
B.13 CN4 Mini USB 通讯线模块·············································································B-20
B.14 CN6 DMCNET 终端电阻 ················································································B-20
B.15 E3 驱动器配件选用表 ····················································································B-21
B
1-1
产品型号说明
使用本驱动器前，请注意此章节所列的注意事项及铭牌与型号相关说明，用户可通过
ASDA-E3 伺服驱动器与伺服电机对应参照表搜寻适合的电机。
1.1 系统安装需求····················································································1-2
1.2 产品型号对照····················································································1-3
1.2.1铭牌说明 ····················································································1-3
1.2.2型号说明 ····················································································1-5
ASDA-E3 伺服驱动器····································································1-5
ECM-E3 系列伺服电机 ··································································1-7
1.3 ASDA-E3 伺服驱动器与伺服电机对应参照表············································1-9
1.4 ASDA-E3 伺服驱动器各部名称····························································1-10
1.4.1 E3-L 机种·················································································1-10
1.4.2 E3-E 机种 ················································································ 1-11
1
产品型号说明ASDA-E3
1-2
1
1.1 系统安装需求
完整可操作的伺服组件应包括：
(1) 伺服驱动器及伺服电机。
(2) 一条 UVW 电机动力线：一端 U、V、W 三条线插至驱动器所附的母座，另一端的
公座则与电机端的母座相接。(选购品)
(3) 一条绿色地线：请锁在驱动器的接地处。(选购品)
(4) 一条编码器控制信号线与电机端编码器的母座相接，一端接头至驱动器 CN2，
另一端为公座。(选购品)
(5) 驱动器电源输入
机种 主回路电源 回生电阻
100 W ~ 3 kW R、S、T 端子台 P 、D、C、 端子台
(6) 一本快速安装手册。
其他接头
E3-L 机种：
(1) 使用于 CN1 的 44-pin 接头。
(2) 使用于 CN2 的 6-pin 接头。(选购品)
(3) 使用于 CN3 的 6-pin 接头，供计算机或控制器联机使用。(选购品)
E3-E 机种：
(1) 使用于 CN1 的 15-pin 接头。
(2) 使用于 CN2 的 6-pin 接头。(选购品)
(3) 使用于 CN4 的 4-pin 接头 (Mini-USB 产品)。(选购品)
(4) 使用于 CN6 的 RJ45 接头，供高速通讯 (EtherCAT) 使用。(选购品)
ASDA-E3 产品型号说明
1-3
1
1.2 产品型号对照
1.2.1 铭牌说明
ASDA-E3 系列伺服驱动器
◼ 铭牌说明
-1-
~ / 60.82
1 / 60.51
-.9
321
◼ 生产管制序号说明
( ) (3) ) (5)
(
( (：)
( (：
( (
( (，
产品型号说明ASDA-E3
1-4
1
ECM系列伺服电机
◼ 铭牌说明
007R
3.Ins.B
2. k
EJ 001
◼ 生产管制序号说明
1) ( ( ( )
：桃园厂；Q：吴江厂
：
1
，)
注：电机的额定输入操作电压为安规认证电压，因此电源输入规格为 110V。
ASDA-E3 产品型号说明
1-5
1
1.2.2 型号说明
ASDA-E3 伺服驱动器
(1) 产品名称
AC Servo Drive
(2) 产品系列
E3 系列
(3) 额定输出功率
(4) 输入电压及相数
21：220V，单/三相
23：220V，三相
代号 规格 代号 规格 代号 规格
01 100 W 07 750 W 20 2.0 kW
02 200 W 10 1.0 kW 30 3.0 kW
04 400 W 15 1.5 kW - -
产品型号说明ASDA-E3
1-6
1
(5) 机种代码
驱动器接口 功能 L E
CN1
DI / DO 数量 9 / 6 6 / 3
模拟量电压输入/输出 2 / 2 X
脉冲输入 (Pulse/Sign) ○ X
脉冲输出 (OA/OB/OZ) ○ X
OCZ 信号 ○ X
CN1 脚位数量 44 15
CN3 通讯支持 (计算机通讯)
RS-485
RS-232 (计算机)
X
CN4 通讯支持 (计算机通讯) X Mini USB
CN6 总线通讯 X EtherCAT
- STO 功能 X X
- 动态煞车 X X
- Capture 高速 DI (PR) 不支援 PR X
- Touch Probe (EtherCAT) X DI1 & DI2
- PR 模式 X O
- 绝对型功能 X O
- 双自由度 X O
- 挠性补偿 X O
- 一键调机 X X
- 全闭环 / 龙门 X X
注：此处料号编码是为了帮助理解命名原则，并非所有任意组合皆能提供，详细可订购型号请洽经销商。
ASDA-E3 产品型号说明
1-7
1
ECM-E3 系列伺服电机
) ( ) ()
(1) 产品名称
ECM：电子换相式电机
(2) 驱动型态
E：经济型伺服电机
(3) 世代别
3：第三世代产品
(4) 惯量别
L：低惯量
M：中惯量
(5) 额定电压及转速
C：额定电压为 220V，转速为 3,000 rpm
E：额定电压为 220V，转速为 2,000 rpm
F：额定电压为 220V，转速为 1,500 rpm
(6) 编码器型式
A：22-bit 绝对型光学式编码器 (单圈分辨率：22-bit；圈数：16-bit)
2：22-bit 增量型光学式编码器 (单圈绝对型)
P：17-bit 绝对型磁性式编码器 (单圈分辨率：17-bit；圈数：16-bit)
M：17-bit 增量型磁性式编码器 (单圈绝对型)
注：E3-L 驱动器不支持绝对型功能 (含单圈绝对型功能)，全系列电机只能以增量型方式使用。
(7) 电机框架尺寸
代号 规格 代号 规格
04 40 mm 13 130 mm
06 60 mm 18 180 mm
08 80 mm - -
产品型号说明ASDA-E3
1-8
1
(8) 额定输出功率
(9) 轴径型式和油封
(10) 轴径规格与接头型式
S：标准轴径，标准接头
(11) 特别码
E：标准品
注：此处料号编码是为了帮助理解命名原则，并非所有任意组合皆能提供，详细可订购型号请洽经销商。
代号 规格 代号 规格
01 100 W 10 1 kW
02 200 W 15 1.5 kW
04 400 W 20 2 kW
07 750 W 30 3 kW
无抱闸
有油封
有抱闸
有油封
键槽 (带螺丝固定孔) R S
ASDA-E3 产品型号说明
1-9
1
1.3 ASDA-E3 伺服驱动器与伺服电机对应参照表
伺服电机 伺服驱动器
惯量别
额定 /
最大转速
电源 输出
(W)
型号
额定
扭矩
(N-m)
最大
扭矩
(N-m)
型号
低惯量 3000 /
6000 rpm 单/三相 100 ECM-E3L-C
0401
E 0.32 1.12 ASD-E3-0121-
中惯量
3000 /
6000 rpm
单/三相
200 ECM-E3M-C
0602
E 0.64 2.24 ASD-E3-0221-
400 ECM-E3M-C
0604
E 1.27 4.45 ASD-E3-0421-
750 ECM-E3M-C
0807
E
2.4 7.61 ASD-E3-0721-
2.4 8.4 ASD-E3-1021-
2000 /
3000 rpm
1000 ECM-E3M-E
1310
E 4.77 14.3 ASD-E3-1021-
1500 ECM-E3M-E
1315
E
7.16 19.93 ASD-E3-1521-
7.16 21.48 ASD-E3-2023-
三相
2000 ECM-E3M-E
1320
E 9.55 28.65 ASD-E3-2023-
1500 /
3000 rpm 3000 ECM-E3M-F
1830
E 19.1 52.3 ASD-E3-3023-
注：
1. 伺服电机型号中之
为编码器型式、
为抱闸或键槽 / 油封型式、
为轴径规格与接头型式。
2. 驱动器型号中之
为产品系列，E3 机种不适用，故为保留，
为机种代码。
产品型号说明ASDA-E3
1-10
1
1.4 ASDA-E3 伺服驱动器各部名称
1.4.1 E3-L 机种
V
编号 名称 说明
(1) 显示面板 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST 主回路电源；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)。
(4) 回生电阻 使用外部回生电阻、内部回生电阻或外部回生制动单元。
(5) UVW
伺服驱动器电流输出；连接至电机电源接头 (U、V、W)，不可与主回路
电源相接，若连接错误，会造成驱动器损坏。
(6) 接地端子 连接至电源地线及电机地线。
(7) CN3
Modbus 通讯端口，连接 RS-485 (通讯用) 或 RS-232 (通讯或个人计算
机用)。
(8) CN1 输出/输入信号用连接口，连接至可程控器 (PLC) 或控制 I/O。
(9) CN2 编码器连接口，连接至伺服电机上的编码器。
ASDA-E3 产品型号说明
1-11
1
1.4.2 E3-E 机种
V
I
编号 名称 说明
(1) 显示面板 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST 主回路电源；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)。
(4) 回生电阻 使用外部回生电阻、内部回生电阻或外部回生制动单元。
(5) UVW
伺服驱动器电流输出；连接至电机电源接头 (U、V、W)，不可与主回路
电源相接，若连接错误，会造成驱动器损坏。
(6) 接地端子 连接至电源地线及电机地线。
(7) CN4 Mini USB 连接头，连接至个人计算机。
(8) CN6 EtherCAT 高速通讯端口信号接头。
(9) CN1 输出/输入信号用连接口，连接至可程控器 (PLC) 或控制 I/O。
(10) CN2 编码器连接口，连接至伺服电机上的编码器。
产品型号说明ASDA-E3
1-12
1
(此页有意留为空白)
2-1
安装
在安装产品前，用户可依照此章节提到的注意事项、储存及安装环境等条件来进行安
装；另外，本章节也说明了断路器、电磁接触器与保险丝建议规格、电磁干扰滤波器选
型和内建回生电阻介绍。
2.1 储存环境条件····················································································2-2
2.2 安装环境条件····················································································2-2
2.3 驱动器安装方向与空间2-3
2.4 电机安全预防措施2-5
2.4.1 电机动作、状态的故障分析排除表···················································2-8
2.4.2 电机安装方向注意事项··································································2-9
2.4.3 使用油封电机的注意事项·····························································2-10
2.4.4 使用联轴器的注意事项·································································2-11
2.4.5 电机油水对策注意事项································································2-12
2.4.6 抑制伺服电机温升的措施·····························································2-13
2.5 断路器、电磁接触器与保险丝建议规格表 ··············································2-14
2.6 EMC 安装条件 ················································································2-15
2.6.1 电磁干扰滤波器 (EMI Filters) 216
2.7 回生电阻的选择方法·········································································2-18
2.8 电磁抱闸的使用···············································································2-23
2.9 线材的使用2-25
2
安装ASDA-E3
2-2
2
2.1 储存环境条件
本产品在安装之前必须置于其包装箱内，若暂不使用，为了使该产品能够符合本公司的保
固范围及日后的维护，储存时务必注意下列事项：
◼ 储存位置的环境温度必须在 -20°C 到 +65°C 范围内。
◼ 储存位置的相对湿度必须在 0%到 90%范围内，且无结露。
◼ 避免储存于含有腐蚀性气体之环境中。
2.2 安装环境条件
安装 E3 驱动器与运转环境的条件：无发高热装置、无水滴、无蒸气、无灰尘及油
性灰尘、无腐蚀、易燃性之气、液体、无漂浮性的尘埃及金属微粒、坚固无振动、
无电磁杂波干扰之场所。
本产品电机使用条件：ECM-E3 电机使用环境温度为 -20°C ~ +60°C*。无发高热装
置、无水滴、无蒸气、无灰尘及油性灰尘、无腐蚀、易燃性之气、液体、无漂浮性的
尘埃及金属微粒之场所。
注：若 E3 电机使用环境温度超过 40˚C，请参阅 A.2.3 节 E3 电机额定值降低率。
)
)
本产品驱动器使用环境温度为 0°C ~ 55°C。若环境温度超过 45°C 以上，请置于通风良
好之场所并降载(每升高 5°C，降额 10%)。若需长时间的运转，建议将环境温度维持在
45°C 以下，以确保产品性能。本产品需以垂直方向装在配电箱里 (如 2.3 节的正确方向
图)，且于配电箱上方安装风扇，使运转产生的热风顺利从箱内排出，并确保驱动器两侧
及下方距离机身 5 厘米处温度不可超过 55°C，远离热源，亦即配电箱的大小及通风条件
必须防止内部使用的电子装置过热。另外，请注意机器的震动是否会影响配电箱的电子
装置。
ASDA-E3 安装
2-3
2
2.3 驱动器安装方向与空间
注意事项：
◼ 安装方向必须依图面所示，散热片 Base 垂直安装于墙面，否则会造成故障。
◼ 为了使冷却循环效果良好，安装交流伺服驱动器时，其上下左右相邻的物品和挡板 (墙)
必须保留足够的空间，否则会造成故障。
◼ 安装伺服驱动器时，不可封住其吸排气孔，也不可将其倾倒放置，否则会造成故障。
正确的方向
错误的方向
安装ASDA-E3
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安装示意图
◼ 为了使散热风扇能够有比较低的风阻，以有效排出热量，安装一台或多台驱动器时，
请依循安装间隔距离建议值。
◼ 请避免上下排列使用，因下排驱动器在运转时所产生的热气上升，容易造成上排驱动
器不必要的温度增加。
单台安装 多台驱动器安装
.
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Air Flow
min.
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5
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2
1)
注：安装图文件之间隔距离与文字批注非等比例尺寸，请以文字批注为准。
ASDA-E3 安装
2-5
2
2.4 电机安全预防措施
台达交流伺服电机是设计为工业使用，操作电机前需对电机规格及操作使用手册有充分
了解。为了操作者及机械设备的安全，并确保能够正确地使用台达交流伺服电机，请在
装机之前，详细阅读安全预防措施。
以下为特别需要注意的安全预防措施：
运送、安装及储存注意事项
◼ 当取出或放置伺服电机时，不可只拉着线材拖曳电机或只握住旋转轴芯。
◼ 请勿直接撞击轴芯，例如：敲击或捶打可能会造成轴芯及附着于轴芯反侧之编码器的
损坏。
◼ 任何轴向或径向轴芯之负载，请勿超过规格所规定之范围。
◼ 伺服电机出轴端结构不防水亦不防油，因此，请勿使用、安装或储存伺服电机于有水
滴、油性液体或过度潮湿之场所和具腐蚀性及易燃性气体之环境。
◼ 伺服电机轴芯材质不具防锈能力，出厂时虽已施加油脂做防锈保护，但如果储存时间
超过六个月，为确保轴芯免于锈蚀，请每三个月定期检视轴芯状况并适时补充适当的
防锈油脂。
◼ 请确保伺服电机之储存环境符合说明书上所述之环境规格。
◼ 由于伺服电机内含精密的编码器，请采取必要措施，以预防电磁杂波干扰、振动及异
常温度变化。
◼ 不可将电机放置于 10 mT 或更高的磁场中。
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2
配线注意事项
◼ 若电流流量超过规格书标示的容许最大电流，可能使电机内部磁性组件去磁，此时请
您与接洽之代理商或经销商或台达当地业务代表联络。
◼ 请检查电机配线及抱闸电压是否正确，并务必确认连接至编码器之电源线及信号线是
否正确。不正确的配线可能造成电机不正常运转，或导致电机故障及损坏。
◼ 电机电源线必须与编码器之电源线及信号线分离，以防止电压耦合及避免杂波 (绝对
不可将两者连接在同一回路)。
◼ 交流伺服电机接地端子务必正确接地。
◼ 绝对不可对编码器端子进行耐压测试，这类的测试可能伤害编码器。
◼ 当电机或抱闸执行耐压测试时，请先切断外部控制器的电源。若无必要，请勿执行这
一类测试，以免折损产品的寿命。
运转注意事项
◼ 交流伺服电机是藉由专用的驱动器运转。不可将商用电源 (100/200V，50/60 Hz) 直
接连接至伺服电机的线路，否则会使伺服电机将无法正常运转并造成伺服电机永久损
坏。
◼ 请于伺服电机规格规定范围内使用该产品。电机温度不可高于规格规定的范围。
◼ 伺服电机轴芯材质不具防锈能力，为确保能长期使用，运转期间轴芯需施加适当防锈
油脂。
◼ 内建抱闸皆为保持抱闸，不可直接使用于停止电机运转。请注意：保持抱闸并非可确
保机械安全之停止装置，请于机器端安装一个安全停止机械装置。抱闸器在保持状态
下，仍会有转动背隙，最大转动背隙角度为 1 ~ 2 度。另外，附抱闸之电机机种运转
时，抱闸来令片有时会产生声音 (沙沙、喀喀声等)，这是抱闸模块结构造成的，并
非有故障不良的情形，并不会影响电机功能。
◼ 使用带抱闸的伺服电机时，不得将抱闸用于动态抱闸制动。
◼ 当侦测到任何不正常的异味、噪音、烟雾、热气或是异常的振动，请立即停止电机运
转并关闭电源。
◼ 若将伺服安装于高辐射场所，电机可能会产生较大的噪音，但电机功能不会受到
影响。
ASDA-E3 安装
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其他注意事项
◼ 台达交流伺服电机并无经常性耗损零件。
◼ 请勿拆解伺服电机或更换电机零件，否则产品保固将失效。
◼ 擅自拆解伺服电机可能导致电机永久故障及损坏。
◼ 请勿让任何水滴或油飞溅或滴到产品上。
安装ASDA-E3
2-8
2
2.4.1 电机动作、状态的故障分析排除表
伺服电机发出异常声音
可能原因 确认方法 处理措施
连接的机构有震动源。
确认机构端可动部分是否有异
物、破损、变形。
更换对锁机构 (如联轴器) 或
与机构厂商联系。
编码器受到过大的震动冲击。
1. 安装时是否针对电机本体
有过敲击、震荡，导致编
码器受损。
2. 摇晃电机时是否有异音
(盘片破损)。
3. 目测编码器后盖是否有粉
尘 (编码器损坏)。
更换电机。
伺服电机过热
可能原因 确认方法 处理措施
伺服电机安装面导热不良。
量测伺服电机框体与安装面
(金属) 的温度，温度落差不
应超过 20°C。
确认安装是否平整，安装面与
电机接触面是否有其他介质
(如：烤漆、垫圈) 导致散热
不良，应去除介质或利用其他
方式协助散热 (如针对电机本
体进行强制风冷)。
ASDA-E3 安装
2-9
2
2.4.2 电机安装方向注意事项
电机可用水平或垂直方式安装使用：
安装方向 注意事项
水平方向
如使用带油封的伺服电机，请参照 2.4.5 节电机油水对策
注意事项。
垂直方向-轴端朝上
◼ 请勿将带油封的伺服电机以轴端朝上的方式安装。
◼ 安装配线时，需提供如图中标示 (1) 之储油弯来避免
水气进入电机内部。
◼ 安装于机器中 (如齿轮箱中) 时，必须遵照 2.4.5 节电机
油水对策注意事项，避免油气进入电机内部。
垂直方向-轴端朝下
如使用带油封的伺服电机，请参照 2.4.5 节电机油水对策注
意事项。
注：如欲在伺服电机上安装齿轮，请遵照厂商规定的安装事项。
安装ASDA-E3
2-10
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2.4.3 使用油封电机的注意事项
本节定义使用油封电机的工作条件：
1. 工作环境中，油质的液面需低于油封唇口，若油封唇口低于油质液面，油质会进入电
机内，导致电机损坏。
)
(1) 伺服电机；(2) 电机轴心；(3) 齿轮；(4) 油质；(5) 油封唇口；(6) 油封
2. 使用油封时，在适当的润滑情况下，使用的环境只能接受油质的泼溅，不能完全浸泡
在液体中使用。
3. 不允许有油质集中浸泡在油封唇口中。
ASDA-E3 安装
2-11
2
2.4.4 使用联轴器的注意事项
注意：
建议使用专为伺服电机设计的挠性联轴器，尤其是使用双弹簧联轴器，其在偏心和偏转
时可以提供一些公差缓冲的裕度。请针对操作条件选择合适的联轴器尺寸，不适当的使
用或连接可能会导致损坏。
1. 使用时须将电机轴端的防锈涂层或油质擦掉。
2. 如果使用带有键槽的伺服电机，请将随货附赠的键或是使用合乎图面尺寸规格的键，
安装到电机轴上。
注意：当要将键安装到电机上时，请不要让键槽或电机出轴受到冲击或敲击。
3. 使用千分表或其他方法进行确认，确保对心精度在表定的规范中。如果环境无法使用
千分表或其他方式确认，请沿两个轴滑动联轴器，并调整至不会卡住为原则。
(1)
4. 伺服电机出轴安装注意事项
(1) 当连接轴时，请确保达到所需的对心精度。如果轴未正确对中，则振动会损坏轴
承和编码器。
(2) 当安装联轴器时，不要让轴受到直接冲击或敲击。另外，不要对编码器周围的区
域施加冲击或敲击，因为冲击力可能会损坏编码器。
(3) 如果联轴器发出任何异常噪音，请再次对轴进行对心，直到噪音消失。
(4) 请确保轴向负载和径向负载在规格范围内。请参照各伺服电机的轴向最大载荷
(N) 和径向最大载荷 (N) 的规格。
(1) 对心精度在圆周上的四个
不同位置测量该距离。最大
和最小测量值之间的差值必
须为 0.03 mm 或更小，甚至
在这样的范围内进行调整，
以尽可能地提高对心精度。
注意：进行测量时，将联轴
器和电机轴一起转动。
安装ASDA-E3
2-12
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2.4.5 电机油水对策注意事项
请遵守以下注意事项，请勿使水、油或其他异物进入电机内部：
1. 请不要将电缆浸泡在油或水中。
(
()
(1) 伺服电机；(2) 油质
2. 如果使用环境无法避免油或水时，请使用耐油电缆。台达并不提供耐油电缆。
3. 如果电机应用需将轴端朝上安装时，请不要使用在机器、齿轮箱或其他有油、水与
伺服电机接触的环境。
(1) 齿轮；(2) 油质
4. 请不要在与切削液接触的地方使用伺服电机。取决于切削液的类型，密封材料、涂铺
的胶体、电缆或其它部件可能受到不利影响，甚至是变质。
5. 请不要将伺服电机与油雾、水蒸汽、油、水或油脂连续接触。
如果无法避免在上述条件下使用，请在机器中采取对策以防止污垢和水。
ASDA-E3 安装
2-13
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2.4.6 抑制伺服电机温升的措施
1. 当安装伺服电机时，请注意每种类型伺服电机的规格中提供的冷却条件 (如：散热片
尺寸)。
2. 伺服电机工作时所产生的热量，将藉由电机安装表面散发到散热片。因此，如果散热
片的表面积太小，则伺服电机的温度可能会异常升高。
3. 如果操作环境难以使用大的散热片，或者超过规格中给出的周围空气温度或高度，
则实施以下措施。
(1) 降低伺服电机满载额定：有关降额定的信息，请参照各类型伺服电机的规格。
当选择伺服电机的容量时，请考虑选择功率大 1 ~ 2 阶的电机。
(2) 降低工作周期的加减速，以降低电机负载。
(3) 使用冷却风扇或其他方式对伺服电机进行外部强制风冷。
重要：请勿在伺服电机和散热片之间放置衬垫或任何其他绝缘材料，以免导致电机温度
升高，影响抗噪性，并可能导致电机故障。
安装ASDA-E3
2-14
2
2.5 断路器、电磁接触器与保险丝建议规格表
驱动器型号 断路器 电磁接触器 保险丝 (Class T)
ASD-E3-0121- 2
5A 5A 10A
ASD-E3-0221- 2
5A 5A 10A
ASD-E3-0421- 2
10A 10A 10A
ASD-E3-0721- 2
10A 10A 20A
ASD-E3-1021- 2
15A 15A 30A
ASD-E3-1521- 2
20A 20A 30A
ASD-E3-2023- 2
30A 30A 50A
ASD-E3-3023- 2
30A 30A 50A
注：
1. 驱动器型号中之
2
为机种代码。
2. 操作模式：一般模式。
3. 驱动器若有加装漏电断路器以作为漏电故障保护时，为防止漏电断路器误动作，请选择感度电流在
200 mA 以上，动作时间为 0.1 秒以上者。
4. 由于系统地线可能混有直流电，因此仅能选用 B 型 (时间延迟型) 的漏电断路器 (RCD)。
5. 使用 UL / CSA 认证之保险丝与断路器。
ASDA-E3 安装
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2.6 EMC 安装条件
此章节说明 EMC 安规测试的安装条件。EMC 等级会因为安装结构或配线方式而有所差
异。台达伺服产品已针对 EMC 测试规范作设计，请依所标示的建议方式架设，以利通
过 EMC 测试。下图为台达伺服产品通过 EMC 测试标准的架设方式。
f
, ,
2
*1
1
*1
1
*
注：
*1：请选用屏蔽线材。
安装ASDA-E3
2-16
2
2.6.1 电磁干扰滤波器 (EMI Filters)
所有的电子设备 (包含伺服驱动器) 在正常运转时，都会产生一些高频或低频的杂波，
并经由传导或辐射的方式干扰外围设备。若可以搭配适当的 EMI 滤波器并配合正确的安
装方式，将可以使干扰降至最低。建议搭配台达 EMI 滤波器，以便发挥最大的抑制干扰
效果。
功率 驱动器型号 EMI 滤波器型号
1PH 3PH
100 W ASD-E3-0121- 2
EMF023A21A EMF10AM23A
200 W ASDE3-0221- 2
EMF023A21A EMF10AM23A
400 W ASDE3-0421- 2
EMF023A21A EMF10AM23A
750 W ASDE3-0721- 2
EMF023A21A EMF10AM23A
1000 W ASDE31021- 2
EMF023A21A EMF10AM23A
1500 W ASDE31521- 2
EMF023A21A EMF10AM23A
2000 W ASDE3-2023- 2 EMF021A23A
3000 W ASDE3-3023- 2 EMF021A23A
注：驱动器型号中之
2
为机种代码。
EMI 滤波器 (EMI Filter) 安装注意事项
为了确保 EMI 滤波器能发挥最大的抑制干扰效果，除了伺服驱动器需按照使用手册的内
容安装及配线之外，还须注意以下几点：
1. 伺服驱动器及 EMI 滤波器都必须要安装在同一块金属平面上。
2. 尽量缩短所有的配线长度。
3. 金属平面要有良好的接地。
4. 建议安装规格为一台伺服驱动器搭配一台 EMI 滤波器。
更详细的安装规范请参考以下文件：
1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2 (2007) Class A Group 1
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台达电机线的选用及安装注意事项
电机线的选用 (请参考附录 B 配件) 及安装正确与否，关系着 EMI 滤波器能否发挥最大
的抑制干扰效果。请注意以下几点：
1. 使用有隔离铜网的电缆线 (如有双层隔离层者更佳)。
2. 在电机线两端的隔离铜网必须以最短距离及最大接触面积去接地。
3. 移除 U 型金属配管支架与金属平面固定处的保护漆，以确保接触良好，请见下图。
4. 请正确连接电机线的隔离铜网与金属平面，应将电机线两端的隔离铜网使用 U 型金
属配管支架与金属平面固定，请见下图的连接方式。
)
(
(1) 需将支架与金属平面固定处的保护漆移除，以确保接触良好
(2) U 型金属配管支架
(3) 有良好接地的金属平面
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2.7 回生电阻的选择方法
当电机出力和运转的方向相反时，表示能量从负载端传回至驱动器内。此能量灌注 DC
Bus 中的电容使其电压值上升。当上升到 DC Bus 的保护范围时，回灌的能量只能靠回
生电阻来消耗。驱动器本身内建回生电阻，用户也可以外接回生电阻。
(
(
()
(
(
(
(1) 物体运动方向；(2) 电机出力方向；(3) 回生能量
下表为 ASDA-E3 系列提供的内建回生电阻的规格：
驱动器 (kW)
内建回生电阻规格 内建回生电阻处理
之回生容量
(Watt)
最小容许电阻值
(外接电阻参考规格)
(Ohm) 电阻值 (Ohm) 容量 (Watt)
0.1 - - - 60
0.2 - - - 60
0.4 60
0.75 100 40 20 60
1.0 100 40 20 30
1.5 100 40 20 30
2.0 20 80 40 15
3.0 20 80 40 15
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当回生能量超出内建回生电阻可处理之容量时，应外接回生电阻。使用回生电阻时，需
注意以下几点：
1. 请正确设定回生电阻之电阻值 (P1.052) 与容量 (P1.053)，否则将影响该功能的
成效。
2. 当用户欲外接回生电阻时，请确定总电阻值不可以小于驱动器的最小容许外接电阻
值。一般的应用方式会以多颗电阻串联使用，若电阻串联后的电阻值是超过可设定的
范围，也可以通过并联的方式来降低电阻值。若用户欲以并联方式增加回生电阻之功
率时，请确定其电阻值是否满足限制条件。
回生电阻的串联及并联的计算方式，请参考下表的解说：
外接回生电阻 (单一)
P1.052 = 10 (Ω)
P1.053 = 1000 (W)
外接回生电阻 (串联)
P1.052 = 20 (Ω)
P1.053 = 2000 (W)
外接回生电阻 (并联)
,
P1.052 = 5 (Ω)
P1.053 = 2000 (W)
3. 在自然环境下，当回生电阻可处理之回生能量 (平均值) 在额定容量下时，电阻的温
度将上升至 120°C 以上 (在持续回生的情况下)。为了安全考虑，请采用强制冷却方
式来降低回生电阻之温度或使用具有热敏开关之回生电阻。关于回生电阻之负载特
性，请向制造商洽询。
使用外部回生电阻时，电阻连接至 P 、C 端，并将 P 、D 端开路。外部回生电阻请选
择上页表格所建议的电阻值。为了让用户容易估算所需回生电阻的容量，我们先忽略
IGBT 消耗能量，依照所选用的旋转电机来选择外部回生电阻容量。
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旋转电机：
回生能量选择
(a) 当外部负载扭矩不存在
)
(1) 物体运动方向；(2) 电机出力方向；(3) 减速时所产生的回生能量
若电机运作方式为往覆来回动作，回生电阻将消耗多余的回灌能量。下表提供能量计算
的公式供用户参考并计算所需要选择之回生电阻。
驱动器 (kW) 电机 转子惯量
(× 10-4kg.m2
)
空载时额定转速到静
止之回生能量 Eo
(joule)
电容最大回生
能量 Ec
(joule)
低
惯
量
0.1 ECM-E3L-C
2
0401
3 4
E 0.0299 0.15 4.21
中
惯
量
0.2 ECM-E3M-C
2
0602
3 4
E 0.141 0.70 5.62
0.4 ECM-E3M-C
2
0604
3 4
E 0.254 1.26 8.42
0.75 ECM-E3M-C
2
0807
3 4
E 1.07 5.29 18.25
1.0 ECM-E3M-E
2
1310
3 4
E 7.79 17.12 26.21
1.5 ECME3M-E
2
1315
3 4
E 11.22 24.66 34.94
2.0 ECM-E3M-E
2
1320
3 4
E 14.65 32.20 26.21
3.0 ECM-E3M-F
2
1830
3 4
E 53.63 66.3 31.82
注：伺服电机型号中之
2
为编码器型式、
3
为抱闸或键槽 / 油封型式、
4
为轴径规格与接头型式。
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假设负载惯量为电机惯量的 N 倍，从 3000 rpm 减速到停止时，回生能量为 (N+1) × Eo，
所需回生电阻必须消耗 (N+1) × Eo－Ec 焦耳；假设往返动作周期为 T sec，那么所需
回生电阻的功率 = 2 × ((N+1) × Eo－Ec) / T。计算程序如下：
步骤 项目 计算公式与设定方式
1 将回生电阻的容量设定至最大 更改 P1.053 至最大数值
2 设定动作周期 T 用户输入
3 设定转速 wr 用户输入或由 P0.002 状态显示读取
4 设定负载/电机惯性比 N 用户输入或由 P0.002 状态显示读取
5 计算最大回生能量 Eo Eo = J * wr2
/182
6 设定可吸收之回生能量 Ec 参考上表
7 计算所需回生电阻容量 2 ×((N+1)× Eo－Ec) / T
范例：
电机 ECM-E3M-CA0604RSE (400 W)，往返动作周期为 T = 0.4 sec，转速 3000 rpm，
负载惯量为电机惯量的 15 倍。
驱动器
(kW)
电机 转子惯量
J (× 10-4kg.m2
)
空载时额定转速到静止
之回生能量 Eo (joule)
电容最大回生能
量 Ec (joule)
0.4 ECM-E3M-CA0604RSE 0.254 1.26 8.42
最大回生能量 Eo = 1.26 Joule (从上表格取得)
设定可吸收之回生能量 Ec = 8.42 Joule (从上表格取得)
所需回生电阻容量 =
2×((N+1)×?0−??)
T
=
2×((15+1)×126842)
04
= 58.7 W
由上述算式可得知，所需回生电阻的功率为 58.7 W。由于 400 W 驱动器无内建回生电
阻，用户需外接 120 W 回生电阻。一般而言，外部负载惯量不大时，若驱动器已有内建
回生电阻，基本上可满足需求。
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(b) 当外部负载扭矩存在，而且使得电机作负功
)
(1) 物体运动方向；(2) 电机出力方向；(3) 回生能量
平常电机作正功时，电机扭矩输出方向与转动方向相同。但在一些特殊场合，电机扭矩
输出与转动方向却相反，此时伺服电机作负功，外部能量通过电机灌进驱动器。例如，
当外部负载出力与转动方向相同时 (如垂直安装机构向下运动时)，伺服系统为符合控制
命令的速度，必须出反向力量以抵消过大负载的外力 (垂直安装机构本身的重量)，会有
大量能量返回驱动器，当 DC Bus 已满而无法再储存回生电能，此能量会被导向回生电
阻消耗掉。
范例：
使用 400 W 的电机 ECM-E3M-CA0604RSE，当外部负载扭矩为+70%的额定扭矩
(1.27 N-m)，转速达 3000 rpm 时。所需的外接回生电阻为：
2×(0.7×1.27)×( 3000×2×π
60 ) = 558 W，因此选用 560 W，60Ω 注的回生电阻。
注：400 W 驱动器的外接电阻最小容许电阻值为 60 Ω。
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2.8 电磁抱闸的使用
电磁抱闸较常运用在 Z 轴方向，因为 Z 轴方向有地心引力会导致机构下滑。使用电磁抱
闸可避免机构往下掉，也能避免伺服电机持续出很大的抗力，若伺服持续出力则会产生
大量的热量，导致电机寿命降低。电磁抱闸为了避免不必要的误动作，电磁抱闸必须作
用在伺服关闭后。驱动器操作电磁抱闸的方式是以 DO 来控制，当 DO.BRKR 被设为
Off，代表电磁抱闸不作动，电机呈机械死锁状态；当 DO.BRKR 被设为 On，代表电磁
抱闸作动，电机可自由运转。用户可利用参数缓存器 MBT1 (P1.042) 及 MBT2 (P1.043)
来设定相关的延迟时间。
电磁抱闸控制时序图：
()
(
(P1. (1.
(1.
(1.
BRKR 输出时机说明：
1. Servo Off 后，经过 P1.043 所设定的时间且电机转速仍高于 P1.038 设定时，
DO.BRKR 为 Off (电磁抱闸锁定)。
2. Servo Off 后，尚未到达 P1.043 所设定的时间但电机转速已低于 P1.038 设定时，
DO.BRKR 为 Off (电磁抱闸锁定)。
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在正常使用情况下，伺服 Servo On 时，DO.BRKR (0x08)应被设为 On，代表电磁抱闸
作动，电机可自由运转。发生紧急情况时，可使用紧急停止按钮，按下按钮后会切换为
断路状态，且 DI.EMGS (0x21)也会同步被设为 On，此时伺服会发出 AL013 异警，立即
停止电机运转。
使用电磁抱闸接线图：
：(,
：(,
：(,
：(,)
：(,)
：(,)
：(+,-)
1,,4,,
Brake 1
注：
1. 抱闸信号控制电磁阀吸磁，提供制动器电源并开启制动器。
2. 请注意：抱闸线圈无极性之分。
抱闸额定电流计算：以下范例选用 ECM-E3M-CA0604RSE
抱闸消耗功率 (20°C) = 7.6 W (来自附录 A 电机规格)
故可得抱闸额定电流 =
7.6 W
24V = 0.32 A
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2.9 线材的使用
一般标准线材使用注意事项：
◼ 一般标准线材不能用于移动或弯曲的场合，若有此需求，请使用耐挠曲线材。
耐挠曲线材使用注意事项：
◼ 错误的安装方式或使用方式会减少线材寿命。
◼ 安装线材时，不可以扭曲线材。
◼ 请勿在线材弯曲部位或弯曲处附近固定线材，否则会导致线材断裂。
◼ 线材固定后，请确保线材可以自由来回移动，避免在弯曲处或固定处产生过大的
张力。
◼ 请勿让接头部位承受应力。
◼ 线材长度过长会导致不必要的弯曲，过短会因固定位置承受过大的张力导致断裂。
可将拖链移动至最长与最短后进行评估。
线材过长 线材过短
线长适中，两侧预留间隙
◼ 安装拖链时，需避免线材之间互相接触，且不允许上下层迭的安装，请使用分隔板
防止线材缠绕。
◼ 请避免划伤、压伤或踩压线材，即使外观无断裂，内部线材有可能已经受损断裂。
◼ 耐挠曲线材不可任意弯曲，详细耐挠曲规格请参考 3.1.6.4 节。
