该页无缩略图
台达电子工业股份有限公司
高机能通讯型伺服驱动器应用技术手册
地址：上海市浦东新区民夏路238号
邮编：201209
电话：（ 021）5863-5678
传真：（ 021）5863-0003
网址：http://www.delta-china.com.cn 扫一扫，关注官方微信
中达电通公司版权所有
如有改动,恕不另行通知
DELTA_IA-ASD_ASDA-A2_UM_SC_20240510
400 - 820 - 9595
沈阳
电话 :(024)2334-1160
哈尔滨
电话 :(0451)5366-5568
长春
电话 :(0431)8892-5060
呼和浩特
电话 :(0471)6297-808
北京
电话 :(010)8225-3225
天津
电话 :(022)2301-5082
济南
电话 :(0531)8690-6277
太原
电话 :(0351)4039-485
郑州
电话 :(0371)6384-2772
石家庄
电话 :(0311)8666-7337
上海
电话 :(021)6301-2827
南京
电话 :(025)8334-6585
杭州
电话 :(0571)8882-0610
合肥
电话 :(0551)6281-6777
武汉
电话 :(027)8544-8475
南昌
电话 :(0791)8625-5010
成都
电话 :(028)8434-2075
长沙
电话 :(0731)8549-9156
重庆
电话 :(023)8806-0306
昆明
电话 :(0871)6313-7362
广州
电话 :(020)3879-2175
厦门
电话 :(0592)5313-601
南宁
电话 :(0771)2621-501
乌鲁木齐
电话 :(0991)4678-141
兰州
电话 :(0931)6406-725
西安
电话 :(029)8836-0780
贵阳
电话 :(0851)8690-1374
福州
电话 :(0591)8755-1305
www.deltaww.com
i
序言
感谢您使用本产品，本使用操作手册提供 ASDA-A2 系列伺服驱动器及 ECMA 系列伺服电机
的相关信息。内容包括：
伺服驱动器和伺服电机的安装与检查
伺服驱动器的组成说明
试转操作的步骤
伺服驱动器的控制功能介绍及调整方法
所有参数说明
通讯协议说明
检测与保养
异常排除
本使用操作手册适合下列使用者参考
伺服系统设计者
安装或配线人员
试转调机人员
维护或检查人员
在使用之前，请您仔细详读本手册以确保使用上的正确性。此外，请将其妥善放置在安全的
地点以便随时查阅。在您尚未读完本手册前，请务必遵守以下事项：
安装的环境必须没有水气，腐蚀性气体及可燃性气体
接线时禁止将三相电源接至电机 U、V、W 的接头，一旦接错时将损坏伺服电机
接地工程必须确实实施
在通电时，请勿拆解驱动器、电机或更改配线
在通电运作前，请确定紧急停机装置是否随时启动
在通电运作时，请勿接触散热片，以免烫伤
如果您在使用上仍有问题，请洽询经销商或者本公司客服中心。
序言ASDA-A2 系列
ii
安全注意事项
ASDA-A2 系列为高解析开放型（Open type）的伺服驱动器，操作时须安装于遮蔽式的控制
箱内。本驱动器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 产生精确的电流输出，用来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-A2 系列可使用于工业应用场合上，且建议安装于使用手册中的配线（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」代表的涵义：
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
请依照指定的方式搭配使用伺服驱动器及伺服电机，否则可能会导致火灾或设
备故障。
安装注意
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。
配线注意
请将接地保护端子连接到 class-3（100 Ω 以下）接地系统，接地不良可能会造
成触电或火灾。
请勿连接三相电源至 U、V、W 电机输出端子，否则可能会造成人员受伤或火灾。
请锁紧电源及电机输出端子的固定螺丝，否则可能会造成火灾。
配线时，请参照线材选择进行配线，避免危安事件发生。
序言ASDA-A2 系列
iii
操作注意
当机械设备开始运转前，须配合其使用者参数调整设定值。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，否则可能会造成人员受伤。
为了避免意外事故，请先分开机械设备的联轴器及皮带等，使其处于单独的状
态，再进行第一次试运转。
在伺服电机和机械设备连接运转后，如果发生操作错误，则不仅会造成机械设
备的损坏，有时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，之后再将负载
接上，以避免不必要的危险。
在运转中，请不要触摸伺服驱动器的散热片，否则可能会由于高温而发生烫伤。
保养及检查
禁止接触伺服驱动器及伺服电机内部，否则可能会造成触电。
电源启动时，禁止拆下驱动器面板，否则可能会造成触电。
电源关闭 10 分钟内，不得接触接线端子，残余电压可能造成触电。
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。
序言ASDA-A2 系列
iv
主电路配线
请不要将动力线和信号线从同一管道内穿过，也不要将其绑扎在一起。配线时，
请使动力线和信号线相隔 30 厘米（11.8 英寸）以上。
对于信号线、编码器反馈线，请使用多股绞合线以及多芯绞合整体隔离线。对
于配线长度，信号输入线最长为 3 米 （9.84 英寸），反馈线最长为 20 米（65.62
英尺）。
即使关闭电源，伺服驱动器内部仍然可能会滞留高电压，请于 10 分钟内不要触
摸电源端子。并请确认「CHARGE」指示灯熄灭以后，再进行检查作业。
请不要频繁地开关电源。如果需要连续开关电源时，请控制在一分钟一次以下。
主电路端子座配线
在配线时，请将端子座从伺服驱动器上拆下来。
端子座的一个电线插入口，请仅插入一根电线。
在插入电线时，请不要使芯线与邻近的电线短路。
在上电之前，请确实检查配线是否正确。
注： 各版本内容若略有差异，请以台达网站(http://www.deltagreentech.com.cn/) 最新公布
信息为主。
目录
第一章 产品检查与型号说明
1.1 产品检查························································································ 1-1
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
1.3 伺服驱动器与电机机种名称对应参照表················································· 1-8
1.3.1 ASDA-A2_220V 系列 伺服系统对应参照表···································· 1-8
1.3.2 ASDA-A2_400V 系列 伺服系统对应参照表···································· 1-10
1.4 伺服驱动器各部名称········································································· 1-11
1.4.1 ASDA-A2_220V 系列伺服驱动器················································· 1-11
1.4.2 ASDA-A2_400V 系列伺服驱动器················································· 1-13
1.5 ASDA-A2-XN 系列 ··········································································· 1-15
1.5.1 型号说明 ················································································ 1-15
1.5.2 ASDA-A2-XN 系列 伺服系统对应参照表 ······································· 1-18
1.5.3 ASDA-A2-XN 系列 伺服驱动器各部名称 ······································· 1-19
第二章 安装
2.1 注意事项························································································ 2-1
2.2 储存环境条件·················································································· 2-1
2.3 安装环境条件·················································································· 2-1
2.4 安装方向与空间··············································································· 2-2
2.5 断路器与保险丝建议规格表································································ 2-4
2.6 铁氧体磁环····················································································· 2-6
2.7 电磁干扰滤波器（EMI Filters）选型 ···················································· 2-8
2.8 回生电阻的选择方法········································································· 2-11
2.9 伺服电机的使用··············································································· 2-20
2.9.1 电机动作、状态的故障分析排除表················································ 2-20
目录ASDA-A2 系列
2.9.2 电机安装方向注意事项······························································· 2-21
2.9.3 使用油封电机的注意事项···························································· 2-22
2.9.4 使用联轴器的注意事项······························································· 2-22
2.9.5 电机油水对策注意事项······························································· 2-23
2.9.6 抑制伺服电机温升的措施···························································· 2-24
第三章 配线
3.1 220V 系列 外围装置与主电源回路连接 ················································· 3-1
3.1.1 外围装置接线图········································································ 3-1
3.1.2 驱动器的连接器与端子······························································· 3-3
3.1.3 电源接线法·············································································· 3-5
3.1.4 电机 U、V、W 引出线的连接头规格 ············································· 3-7
3.1.5 编码器引出线的连接头规格························································· 3-10
3.1.6 线材的选择·············································································· 3-15
3.2 400V 系列 外围装置与主电源回路连接 ················································· 3-17
3.2.1 外围装置接线图········································································ 3-17
3.2.2 驱动器的连接器与端子······························································· 3-19
3.2.3 电源接线法·············································································· 3-21
3.2.4 电机 U、V、W 引出线的连接头规格 ············································· 3-22
3.2.5 编码器引出线的连接头规格························································· 3-24
3.2.6 线材的选择·············································································· 3-26
3.3 伺服系统基本方块图········································································· 3-28
3.3.1 220V 系列机种········································································· 3-28
3.3.2 400V 系列机种········································································· 3-31
3.4 CN1 I/O 信号接线 ············································································ 3-33
3.4.1 CN1 I/O 连接器端子 Layout ························································ 3-33
3.4.2 CN1 I/O 连接器信号说明···························································· 3-35
3.4.3 界面接线图（CN1） ································································· 3-45
3.4.4 用户指定 DI 与 DO 信号····························································· 3-54
3.4.5 应用：使用 CN1 便利接头配线···················································· 3-55
3.5 CN2 编码器信号接线 ········································································ 3-59
目录ASDA-A2 系列
3.6 CN3 通讯端口信号接线 ····································································· 3-62
3.6.1 CN3 通讯端口端子 Layout·························································· 3-62
3.6.2 CN3 通讯端口与个人计算机的连接方式 ········································ 3-63
3.7 CN4 串行通讯端口（USB）······························································· 3-63
3.8 CN5 位置反馈信号接头（全闭回路）··················································· 3-64
3.9 CN6 通信端口（CANopen）······························································ 3-65
3.9.1 CANopen 通讯······································································· 3-65
3.9.2 DMCNET 通讯 ······································································· 3-67
3.10 CN7 扩充 DI···················································································· 3-69
3.11 CN8 电池盒端口 ·············································································· 3-70
3.12 220V 标准接线方式 ········································································· 3-71
3.12.1 位置（PT）模式标准接线························································· 3-71
3.12.2 位置（PR）模式标准接线 ························································ 3-72
3.12.3 速度模式标准接线··································································· 3-73
3.12.4 扭矩模式标准接线··································································· 3-74
3.12.5 通讯模式标准接线··································································· 3-75
3.13 400V 标准接线方式 ········································································· 3-76
3.13.1 位置（PT）模式标准接线························································· 3-76
3.13.2 位置（PR）模式标准接线 ························································ 3-77
3.13.3 速度模式标准接线··································································· 3-78
3.13.4 扭矩模式标准接线··································································· 3-79
3.13.5 通讯模式标准接线··································································· 3-80
3.14 A2-XN 系列与 A2 系列差异说明···························································· 3-81
3.14.1 外围装置接线图(以 A2-EN 机种为例)········································· 3-81
3.14.2 A2-XN 驱动器新增的连接器与端子 ············································· 3-82
3.14.3 CN1 I/O 50-pin 连接器端子(-FN 及-MN 的 4.5kW ~ 7.5kW 机种与-LN
全系列适用) ·········································································· 3-82
3.14.4 CN1 I/O 26-pin 连接器端子 (-FN 及-MN 的 3kW 以下机种与-EN 全系
列适用)················································································· 3-84
3.14.5 CN3 通讯端口端子 (-FN 及-MN 的 4.5kW ~ 7.5kW 机种与-LN 全系列
适用)···················································································· 3-85
目录ASDA-A2 系列
3.14.6 EtherCAT 通信端口 (-EN 机种适用) ············································ 3-86
3.14.7 CN-STO (Safe Torque Off) ······················································· 3-89
3.14.8 安全功能动作原理··································································· 3-90
3.14.9 STO 功能相关参数说明···························································· 3-92
3.14.10位置（PT）模式标准接线························································· 3-94
3.14.11位置（PR）模式标准接线 ························································ 3-95
3.14.12速度模式标准接线··································································· 3-96
3.14.13 扭矩模式标准接线··································································· 3-97
3.14.14 通讯模式标准接线··································································· 3-98
第四章 面板显示及操作
4.1 面板各部名称·················································································· 4-1
4.2 参数设定流程·················································································· 4-2
4.3 状态显示························································································ 4-5
4.3.1 储存设定显示 ·········································································· 4-5
4.3.2 小数点显示 ············································································· 4-5
4.3.3 警示信息显示 ·········································································· 4-5
4.3.4 正负号设定显示 ······································································· 4-6
4.3.5 监控显示 ················································································ 4-6
4.4 一般功能操作·················································································· 4-9
4.4.1 异常状态记录显示操作 ······························································ 4-9
4.4.2 寸动模式操作 ·········································································· 4-10
4.4.3 强制数字输出操作 ···································································· 4-11
4.4.4 数字输入诊断操作 ···································································· 4-12
4.4.5 数字输出诊断操作 ···································································· 4-12
目录ASDA-A2 系列
第五章 试转操作与调机步骤
5.1 无负载检测····················································································· 5-1
5.2 驱动器送电····················································································· 5-2
5.3 空载 JOG 测试 ················································································ 5-6
5.4 空载的速度测试··············································································· 5-7
5.5 空载的定位测试··············································································· 5-9
5.6 调机步骤························································································ 5-11
5.6.1 调机步骤流程图 ······································································· 5-12
5.6.2 结合机构的初步惯量估测流程图 ·················································· 5-13
5.6.3 自动模式调机流程图 ································································· 5-14
5.6.4 半自动增益模式调机流程图 ························································ 5-15
5.6.5 负载惯量估测的限制 ································································· 5-16
5.6.6 机械共振的处理 ······································································· 5-17
5.6.7 增益调整模式与参数的关系 ························································ 5-19
5.6.8 手动增益参数调整 ···································································· 5-20
第六章 控制机能
6.1 操作模式选择·················································································· 6-1
6.2 位置模式························································································ 6-3
6.2.1 PT 模式位置命令······································································ 6-3
6.2.2 PR 模式位置命令 ····································································· 6-8
6.2.3 位置模式控制架构 ···································································· 6-9
6.2.4 位置 S 型平滑器······································································· 6-10
6.2.5 电子齿轮比 ············································································· 6-14
6.2.6 低通滤波器 ············································································· 6-16
6.2.7 位置模式（PR）时序图 ····························································· 6-17
6.2.8 位置回路增益调整 ···································································· 6-18
6.2.9 位置模式低频抑振 ···································································· 6-20
6.3 速度模式························································································ 6-25
6.3.1 速度命令的选择 ······································································· 6-25
6.3.2 速度模式控制架构 ···································································· 6-26
目录ASDA-A2 系列
6.3.3 速度命令的平滑处理 ································································· 6-27
6.3.4 模拟命令端比例器 ···································································· 6-31
6.3.5 速度模式时序图 ······································································· 6-32
6.3.6 速度回路增益调整 ···································································· 6-33
6.3.7 共振抑制单元 ·········································································· 6-39
6.4 扭矩模式························································································ 6-46
6.4.1 扭矩命令的选择 ······································································· 6-46
6.4.2 扭矩模式控制架构 ···································································· 6-47
6.4.3 扭矩命令的平滑处理 ································································· 6-48
6.4.4 模拟命令端比例器 ···································································· 6-49
6.4.5 扭矩模式时序图 ······································································· 6-50
6.5 混合模式························································································ 6-51
6.5.1 速度／位置混合模式 ································································· 6-52
6.5.2 速度／扭矩混合模式 ································································· 6-52
6.5.3 扭矩／位置混合模式 ································································· 6-53
6.6 其他 ······························································································ 6-54
6.6.1 速度限制的使用 ······································································· 6-54
6.6.2 扭矩限制的使用 ······································································· 6-54
6.6.3 模拟监视 ················································································ 6-55
6.6.4 电磁刹车的使用 ······································································· 6-60
第七章 运动控制功能说明
7.1 ASDA-A2 具备的运动控制功能 ··························································· 7-1
7.2 驱动器运作信息··············································································· 7-1
7.2.1 监视变量说明 ·········································································· 7-2
7.2.2 数据数组说明 ·········································································· 7-8
7.3 运动轴说明····················································································· 7-11
7.4 PR 模式说明··················································································· 7-12
7.5 ASDA-A2 的 PR 模式与旧 PR 模式的差异············································· 7-12
7.6 PR 模式位置单位············································································· 7-13
7.7 PR 模式缓存器说明·········································································· 7-13
目录ASDA-A2 系列
7.8 PR 模式原点复归说明······································································· 7-14
7.9 PR 模式提供的 DI／DO 与时序··························································· 7-15
7.10 PR 模式参数设定············································································· 7-16
7.10.1 路径前后关系········································································· 7-23
7.10.2 PR 模式路径编程···································································· 7-23
7.11 电子凸轮（E-Cam）功能说明 (A2-L 机种不支持此功能) ·························· 7-25
7.11.1 CAPTURE（数据撷取）功能说明 ·············································· 7-33
7.11.2 COMPARE（数据比较）功能说明 ············································· 7-35
第八章 参数与功能
8.1 参数定义························································································ 8-1
8.2 参数一览表····················································································· 8-2
8.3 参数说明························································································ 8-15
P0-xx 监控参数 ················································································ 8-15
P1-xx 基本参数 ················································································ 8-38
P2-xx 扩充参数 ················································································ 8-90
P3-xx 通讯参数 ················································································ 8-131
P4-xx 诊断参数 ················································································ 8-140
P5-xx Motion 设定参数 ······································································ 8-153
P6-xx PR 路径定义参数 (请参照第七章的详细设定方式)··························· 8-211
P7-xx PR 路径定义参数 (请参照第七章的详细设定方式)··························· 8-247
表 8.1 数字输入（DI）功能定义表 ························································ 8-257
表 8.2 数字输出（DO）功能定义表······················································· 8-266
第九章 通讯机能
9.1 RS-485／RS-232 通讯硬件接口·························································· 9-1
9.2 RS-485／RS-232 通讯参数设定·························································· 9-3
9.3 MODBUS 通讯协议·········································································· 9-7
9.4 通讯参数的写入与读出······································································ 9-19
目录ASDA-A2 系列
第十章 异警排除
10.1 驱动器异警一览表············································································ 10-1
10.2 CANopen 通讯异警一览表 ································································· 10-5
10.3 运动控制异警一览表········································································· 10-7
10.4 异警原因与处置··············································································· 10-10
10.5 发生异常后解决异警的方法································································ 10-39
第十一章 规格
11.1 伺服驱动器标准规格（ASDA-A2 系列） ··············································· 11-1
11.1.1 ASDA-A2_220V 系列······························································· 11-1
11.1.2 ASDA-A2_400V 系列······························································· 11-4
11.2 伺服电机标准规格（ECMA 系列） ······················································ 11-7
11.2.1 220V 系列············································································· 11-7
11.2.2 400V 系列············································································· 11-17
11.3 转矩特性（T-N 曲线） ······································································ 11-25
11.3.1 220V 系列············································································· 11-25
11.3.2 400V 系列············································································· 11-27
11.4 过负载的特性·················································································· 11-29
11.5 伺服驱动器外型尺寸········································································· 11-31
11.5.1 220V 系列············································································· 11-31
11.5.2 400V 系列············································································· 11-38
11.6 伺服电机外型尺寸············································································ 11-41
11.6.1 220V 系列············································································· 11-41
11.6.2 400V 系列············································································· 11-48
第十二章 绝对型伺服系统
12.1 绝对型电池盒及线材········································································· 12-2
12.1.1 电池规格 ················································································ 12-2
12.1.2 电池盒规格 ············································································· 12-4
12.1.3 绝对型编码器连接线 ································································· 12-5
12.1.4 电池盒连接线 ·········································································· 12-7
12.2 安装 ······························································································ 12-8
目录ASDA-A2 系列
12.2.1 安装电池盒于伺服系统 ······························································ 12-8
12.2.2 如何填装电池 ·········································································· 12-12
12.2.3 如何更换电池 ·········································································· 12-14
12.3 系统初始化与操作流程······································································ 12-16
12.3.1 系统初始化 ············································································· 12-16
12.3.2 脉冲数值 ················································································ 12-17
12.3.3 PUU 数值 ··············································································· 12-18
12.3.4 使用 DI/DO 建立绝对型原点坐标 ················································· 12-19
12.3.5 使用参数设定建立绝对型原点坐标 ··············································· 12-19
12.3.6 利用 DI/DO 读取绝对位置 ·························································· 12-20
12.3.7 利用通讯读取绝对位置 ······························································ 12-23
12.4 绝对型功能的参数说明······································································ 12-24
12.5 数字输入（DI）功能定义表 (绝对型电机功能) ······································· 12-28
12.6 数字输出（DO）功能定义表 (绝对型电机功能) ······································ 12-29
12.7 驱动器绝对型功能异警一览表····························································· 12-30
12.7.1 异警原因与处置 ······································································· 12-31
12.8 相关监视变数··················································································· 12-33
附录 A 配件
附录 B 基本检测与保养
目录ASDA-A2 系列
(此页有意留为空白)
11
第一章 产品检查与型号说明
1.1 产品检查
为了防止本产品在购买与运送过程中的疏忽，请详细检查以下列出的项目：
是否为所欲购买的产品：分别检查电机与驱动器铭牌上的产品型号，可参阅下节所列的
型号说明。
电机轴是否运转平顺：用手旋转电机转轴，如果可以平顺运转，代表电机转轴是正常的。
但是，附有电磁刹车的电机，则无法用手平滑运转！
外观是否损伤：目视检查是否外观上有任何损坏或是刮伤。
是否有松脱的螺丝：是否有螺丝未锁紧或脱落。
如果任何上述情形发生，请与代理商联络以获得妥善的解决。
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，另一端为公
座与电机端的母座相接，还有一条绿色地线请锁在驱动器的接地处。（选购品）
(3) 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）
(4) 于 CN1 使用的 50-PIN 接头。（选购品）
(5) 于 CN2 使用的 20-PIN 接头。（选购品）
(6) 于 CN3 使用的 6-PIN 接头，一般通讯（RS485）用。（选购品）
(7) 于 CN4 使用的 4-PIN 接头（USB Type B 产品）。（选购品）
(8) 于 CN6 使用的 RJ45 接头，高速通讯（CANopen）用。（选购品）
(9) 于 CN7 使用的 7-PIN 接头，扩充 DI 用。(-U 机种)（选购品）
第一章 产品检查与型号说明ASDA-A2 系列
1-2
(10) 驱动器电源输入：
220 V 机种：
控制回路电源 主回路电源
100 W ~ 3 kW L1C、L2C、 快速接头 R、S、T 快速接头
4.5 kW ~ 15 kW L1C、L2C、 端子台 R、S、T 端子台
400 V 机种：
控制回路电源 主回路电源
750 W ~ 1.5 kW DC24V、DC0V、 快速接头 R、S、T 快速接头
2 kW ~ 7.5 kW DC24V、DC0V、 端子台 R、S、T 端子台
(11) 3-PIN 快速接头（U、V、W）
(12) 3-PIN 快速接头（P 、D、C）
(13) 一支塑料压棒（220 V 100 W ~ 3 kW 以及 400 V 750 W ~ 1.5 kW 机种）
(14) 一片金属短路片（220 V 100 W ~ 4.5 kW 以及 400 V 750 W ~ 1.5 kW 机种）
(15) 一本安装手册
第一章 产品检查与型号说明ASDA-A2 系列
1-3
1.2 产品型号对照
1.2.1 铭牌说明
ASDA-A2 系列伺服驱动器
铭牌说明
, .
. . .
: --- :
~31.
~13. : -2.6
.
生产管制序号说明
(，
)
)
(: ; : )
ECMA 系列伺服电机
铭牌说明
..
: r...
-
, .
生产管制序号说明
(
1
:
第一章 产品检查与型号说明ASDA-A2 系列
1-4
ECMC 系列伺服电机
铭牌说明
-
: 5..
/...kW 1.0
,
生产管制序号说明
，)
(
()
(: ;
第一章 产品检查与型号说明ASDA-A2 系列
1-5
1.2.2 型号说明
ASDA-A2 系列伺服驱动器
A S D - A 2 - 0 7 4 3 - U
输入电压及相数
21: 220 V 1 phase
23: 220 V 3 phase
43: 400 V 3 phase
机种代码
产品系列
A2
产品名称
AC SERVO Drive
额定输入功率
01: 100 W 30: 3 kW
02: 200 W 45: 4.5 kW
04: 400 W 55: 5.5 kW
07: 750 W 75: 7.5 kW
10: 1 kW 1B: 11 kW
15: 1.5 kW 1F: 15 kW
20: 2 kW
第一章 产品检查与型号说明ASDA-A2 系列
1-6
机种代码
类别 标准型 网络型
A2 系列 L U E F M
RS-485(CN3) O O X O O
全闭环控制(CN5)*1 O O O O O
DI 扩充接口(CN7) X O O X X
EtherCAT X X O X X
CANopen X X X X O
DMCNET X X X O X
模拟电压控制 O O X X O
脉冲输入 O O X X O
PR 模式*2 O O O O O
电子凸轮(E-Cam)*3 X O O X O
STO*4 X X O X X
注：
1. PR 模式下，只有 A2-F 支持全闭环功能。
2. 唯有在 DMCNET 总线模式下可通过通讯方式读取 PR 参数。
3. E-cam 功能只能在 PR 模式下使用。
4. 仅 A2-E 220V 3 kW(含)以下机种与 400V 7.5 kW(含)以下机种支持 STO 功能。
5. 搭配台达 CNC 时，驱动器需刻录特定的韧体，详情请洽台达 CNC 客服。
第一章 产品检查与型号说明ASDA-A2 系列
17
ECMA 系列伺服电机
E C M A - C 1 0 6 0 2 E S
轴径形式
和油封
无刹车
无油封
有刹车
无油封
无刹车
有油封
有刹车
有油封
圆轴
(带螺丝固定孔)
- - C D
键槽 E F - -
键槽
(带螺丝固定孔)
P Q R S
标准轴径规格：S
特殊轴径规格：3 = 42 mm, 7 = 14 mm
额定输出功率
0F: 50 W 09: 900 W 50: 5.0 kW
01: 100 W 10: 1.0 kW 55: 5.5 kW
02: 200 W 13: 1.3 kW 75: 7.5 kW
03: 300 W 15: 1.5 kW 1B: 11 kW
04: 400 W 18: 1.8 kW 1F: 15 kW
05: 500 W 20: 2.0 kW
06: 600 W 30: 3.0 kW
07: 750 W 35: 3.5 kW
08: 850 W 45: 4.5 kW
电机框架尺寸
04: 40 mm 09: 86 mm 18: 180 mm
06: 60 mm 10: 100 mm 22: 220 mm
08: 80 mm 13: 130 mm
系列名称
额定电压及转速
C = 220 V / 3,000 rpm; E = 220 V / 2,000 rpm;
F = 220 V / 1,500 rpm; G = 220 V / 1,000 rpm;
J = 400 V / 3,000 rpm; K = 400 V / 2,000 rpm;
L = 400 V / 1,500 rpm; M = 400 V / 1,000 rpm
编码器型式
1: 增量型，20-bit 2: 增量型，17-bit
A: 绝对型 (单圈分辨率: 17-bit; 多圈分辨
率: 16-bit )
驱动型态
A: 交流伺服
产品名称
ECM: 电子换相式电机
第一章 产品检查与型号说明ASDA-A2 系列
1-8
1.3 伺服驱动器与电机机种名称对应参照表
1.3.1 ASDA-A2_220V 系列 伺服系统对应参照表
电机 伺服驱动器
系列 电源 输出
(W)
型号
额定
电流
(Arms)
瞬时最
大电流
(Arms)
型号
连续输
出电流
(Arms)
瞬时最
大输出
电流
(Arms)
低惯量
ECMA-C 3000 r/min
单/三相
50 ECMA-C1040F□S 0.69 2.05
ASD-A2-0121-□ 0.90 2.70
100 ECMA-C△0401□S 0.90 2.70
200 ECMA-C△0602□S 1.55 4.65 ASD-A2-0221-□ 1.55 4.65
400 ECMA-C△0604□S 2.60 7.80
ASD-A2-0421-□ 2.60 7.80
400 ECMA-C△0804□7 2.60 7.80
750 ECMA-C△0807□S 5.10 15.30
ASD-A2-0721-□ 5.10 15.30
750 ECMA-C△0907□S 3.66 11.00
1000 ECMA-C△0910□S 4.25 12.37
ASD-A2-1021-□ 7.30 21.90
1000 ECMA-C△1010□S 7.30 21.90
2000 ECMA-C△1020□S 12.05 36.15 ASD-A2-2023-□ 13.40 40.20
3000 ECMA-C△1330□4 17.2 47.5 ASD-A2-3023-□ 19.40 58.20
中惯量
ECMA-E 2000 r/min
单/三相
500 ECMA-E△1305□S 2.90 8.70 ASD-A2-0721-□ 5.10 15.30
1000 ECMA-E△1310□S 5.60 16.80 ASD-A2-1021-□ 7.30 21.90
1500 ECMA-E△1315□S 8.30 24.90 ASD-A2-1521-□ 8.30 24.90
2000 ECMA-E△1320□S 11.01 33.03
ASD-A2-2023-□ 13.40 40.20
2000 ECMA-E△1820□S 11.22 33.66
3000 ECMA-E△1830□S 16.10 48.30
ASD-A2-3023-□ 19.40 58.20
3500 ECMA-E△1835□S 19.20 57.60
中高惯量 ECMA-F 1500 r/min
单/三相
500 ECMA-F△1305□S 3.90 12.10 ASD-A2-0721-□ 5.10 15.30
850 ECMA-F△1308□S 7.10 19.40 ASD-A2-1021-□ 7.30 21.90
1300 ECMA-F△1313□S 12.60 38.60
ASD-A2-2023-□ 13.40 40.20
1800 ECMA-F△1318□S 13.00 36.00
3000 ECMA-F△1830□S 19.40 58.20 ASD-A2-3023-□ 19.40 58.20
4500 ECMA-F△1845□S 32.50 81.30 ASD-A2-4523-□ 32.50 70.71
5500 ECMA-F△1855□3 40.00 100.00 ASD-A2-5523-□ 40.00 106.07
7500 ECMA-F△1875□3 47.50 118.80 ASD-A2-7523-□ 47.50 141.42
11000 ECMA-F△221B□3 51.80 129.50 ASD-A2-1B23-□ 54.40 141.42
15000 ECMA-F△221F□S 67.00 162.00 ASD-A2-1F23-□ 70.00 212.13
第一章 产品检查与型号说明ASDA-A2 系列
1-9
上表以伺服电机的额定电流的三倍来设计伺服驱动器的规格。电机及驱动器的详细规格请参
照第十一章。
电机 伺服驱动器
系列 电源 输出
(W)
型号
额定
电流
(Arms)
瞬时最
大电流
(Arms)
型号
连续输
出电流
(Arms)
瞬时最
大输出
电流
(Arms)
高惯量
ECMA-G 1000 r/min
ECMA-C 3000 r/min
单/三相
400 ECMA-C△0604□H 2.60 7.80 ASD-A2-0421-□ 2.60 7.80
750 ECMA-C△0807□H 5.10 15.30 ASD-A2-0721-□ 5.10 15.30
300 ECMA-G△1303□S 2.50 7.50 ASD-A2-0421-□ 2.60 7.80
600 ECMA-G△1306□S 4.80 14.40 ASD-A2-0721-□ 5.10 15.30
900 ECMA-G△1309□S 7.50 22.50 ASD-A2-1021-□ 7.30 21.90
注： 1) 驱动器型号后的为 ASDA-A2 机种代码，请参照实际购买产品的型号信息。
2) 伺服电机型号中的△为编码器型式。△ = 1: 增量型，20-bit；△ = 2: 增量型，17-bit；△ = A: 绝对型。
所列电机型号为提供信息查询使用，实际可订购的产品机种请洽询当地代理商。
3) 伺服电机型号中的为刹车或键槽／油封规格。
第一章 产品检查与型号说明ASDA-A2 系列
110
1.3.2 ASDA-A2_400V 系列 伺服系统对应参照表
注： 1) 驱动器型号后的为 ASDA-A2 机种代码，请参照实际购买产品的型号信息。
2) 伺服电机型号中的△为编码器型式。△ = 1: 增量型，20-bit；△ = 2: 增量型，17-bit；△ = A: 绝对型。
所列电机型号为提供信息查询使用，实际可订购的产品机种请洽询当地代理商。
3) 伺服电机型号中的为刹车或键槽／油封规格。
4) ASD-A2-1B43-与 ASD-A2-1F43-仅提供 E 机种。
5) ASD-A2R-1B43-与 ASD-A2R-1F43-仅提供 M 与 F 机种。
上表以伺服电机的额定电流的三倍来设计伺服驱动器的规格。如果用户需要六倍于伺服电机
额定电流的伺服驱动器专用机，可洽询经销商。电机及驱动器的详细规格可参照附录。
电机 伺服驱动器
系列 电源 输出
(W)
型号 额定电流
(Arms)
瞬时最
大电流
(Arms)
型号
连续输
出电流
(Arms)
瞬时最大
输出电流
(Arms)
低惯量 ECMA-J 3000 r/min
三相
400 ECMA-J△0604S 1.62 4.85 ASD-A2-0743- 3.07 9.21
750 ECMA-J△0807S 3.07 9.5 ASD-A2-0743- 3.07 9.21
750 ECMA-J△0907S 2.16 6.37 ASD-A2-0743- 3.07 9.21
1000 ECMA-J△0910S 2.4 7.17 ASD-A2-1043- 3.52 9.86
1000 ECMA-J△1010S 4.15 12.46 ASD-A2-1543- 5.02 10.04
2000 ECMA-J△1020S 7.09 21.28 ASD-A2-2043- 6.66 18.65
3000 ECMA-J△13304 9.8 29.99 ASD-A2-3043- 11.9 33.32
中惯量
ECMA-K 2000 r/min
三相
750 ECMA-K△1305S 1.7 5.2 ASD-A2-0743- 3.07 9.21
1000 ECMA-K△1310S 3.52 10.56 ASD-A2-1043- 3.52 9.86
1500 ECMA-K△1315S 5.02 15.06 ASD-A2-1543- 5.02 10.04
2000 ECMA-K△1320S 6.66 19.98 ASD-A2-2043- 6.66 18.65
2000 ECMA-K△1820S 6.6 19.88 ASD-A2-2043- 6.66 18.65
中高惯量 ECMA-L 1500 r/min
三相
750 ECMA-L△1305S 2.1 6.1 ASD-A2-0743- 3.07 9.21
850 ECMA-L△1308S 3.4 8.85 ASD-A2-1043- 3.52 9.86
1300 ECMA-L△1313S 5.02 15 ASD-A2-1543- 5.02 10.04
3000 ECMA-L△1830S 11.53 34.6 ASD-A2-3043- 11.9 33.32
4500 ECMA-L△1845S 20.8 52 ASD-A2-4543- 20 44
5500 ECMA-L△18553 22.37 56 ASD-A2-5543- 22.04 48.49
7500 ECMA-L△18753 27.3 68.3 ASD-A2-7543- 28.39 62.46
11000 ECMA-L△221B3 27.2 68 ASD-A2(R)-1B43- 28.1 61.82
15000 ECMA-L△221F3 37.7 90.8 ASD-A2(R)-1F43- 38.65 85.03
高惯量 ECMA-M 1000 r/min
三相 900 ECMA-M△1309S 4.4 13.1 ASD-A2-1543- 5.02 10.04
第一章 产品检查与型号说明ASDA-A2 系列
111
1.4 伺服驱动器各部名称
1.4.1 ASDA-A2_220V 系列伺服驱动器
正面图
()
I
，
2：
--
：
1：
：
：
第一章 产品检查与型号说明ASDA-A2 系列
112
上视图
L1c给单/三相
~，50/60H z电源
、、
，/
1) ，
、，
) ，
，
、
) ，
、，
、
电源
下视图
(,,) ，
第一章 产品检查与型号说明ASDA-A2 系列
113
1.4.2 ASDA-A2_400V 系列伺服驱动器
正面图
(
I
，
：
：
：
：--
1：
第一章 产品检查与型号说明ASDA-A2 系列
114
上视图
、D C0V供
10%电源
、、
，/
) ，
、，
、
) ，
、，
、
)
、，
、、
电源
下视图
,,，
接地保护
第一章 产品检查与型号说明ASDA-A2 系列
115
1.5 ASDA-A2-XN 系列
1.5.1 型号说明
ASDA-A2-*N 系列伺服驱动器
ASD - A 2 - 0421 -L N
输入电压及相数
21: 220 V 1 phase
23: 220 V 3 phase
N = 支持 Nikon 编码器
产品系列
A2
产品名称
AC SERVO Drive
额定输入功率
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
机种代码
第一章 产品检查与型号说明ASDA-A2 系列
116
机种代码
类别 标准型 网络型 100 W ~ 3 kW
A2 系列 LN EN FN MN
RS-485(CN3) O X X X
全闭环控制(CN5) X X X X
DI 扩充接口(CN7) X O X X
EtherCAT X O X X
CANopen X X X O
DMCNET X X O X
模拟电压控制 O X X X
脉冲输入 O X X X
CN1 DI/DO 数量 8/5 7/4 7/4 7/4
PR 模式*2 O O O O
电子凸轮(E-Cam)*3 X O X O
STO O O O O
L: 脉波型E: EtherCAT F: DMCNET M: CANopen
注：
1. 唯有在DMCNET总线模式下可通过通讯方式读取PR参数。
2. E-cam功能只能在PR模式下使用。
3. STO认证申请中。
4. 搭配台达CNC时，驱动器需刻录特定的韧体，详情请洽台达CNC客服。
第一章 产品检查与型号说明ASDA-A2 系列
117
ECMC 系列伺服电机
E C M C - C W 0 6 0 2 R S
轴径形式
和油封
无刹车
有油封
有刹车
有油封
圆轴
(带螺丝固定孔)
C D
键槽
(带螺丝固定孔)
R S
标准轴径规格：S
特殊轴径规格：H = 高惯量机种
额定输出功率
01: 100 W 13: 1.3 kW
02: 200 W 15: 1.5 kW
04: 400 W 18: 1.8 kW
07: 750 W 20: 2.0 kW
08: 850 W 30: 3.0 kW
10: 1.0 kW
电机框架尺寸
04: 40 mm 09: 86 mm 18: 180 mm
06: 60 mm 10: 100 mm
08: 80 mm 13: 130 mm
系列名称
额定电压及转速
C = 220 V / 3,000 rpm; E = 220 V / 2,000 rpm;
F = 220 V / 1,500 rpm;
编码器型式
W: 绝对型，22 bit (单圈分辨率: 22 bit; 多圈
分辨率: 16 bit ) 伺服驱动器分辨
率:1280000 p/rev
驱动型态
C: 高精度交流伺服电机 (如应用于CNC方案)
产品名称
ECM:电子换相式电机
第一章 产品检查与型号说明ASDA-A2 系列
118
1.5.2 ASDA-A2-XN 系列 伺服系统对应参照表
伺服驱动器 对应的伺服电机
100 W ASD-A2-0121-N ECMC-C△0401S (S = 8 mm)
200 W ASD-A2-0221-N ECMC-C△0602S (S = 14 mm)
400 W ASD-A2-0421-N
ECMC-C△0604S (S = 14 mm)
ECMC-C△08047 (7 = 14 mm)
ECMC-E△1305S (S = 22 mm)
ECMC-G△1303S (S = 22 mm)
750 W ASD-A2-0721-N
ECMC-C△0807S (S = 19 mm)
ECMC-C△0907S (S = 16 mm)
ECMC-G△1306S (S = 22 mm)
1000 W ASD-A2-1021-N
ECMC-C△0910S (S = 16 mm)
ECMC-C△1010S (S = 22 mm)
ECMC-E△1310S (S = 22 mm)
ECMC-G△1309S (S = 22 mm)
1500 W ASD-A2-1521-N ECMC-E△1315S (S = 22 mm)
2000 W ASD-A2-2023-N
ECMC-C△1020S (S = 22 mm)
ECMC-E△1320S (S = 22 mm)
ECMC-E△1820S (S = 35 mm)
*ECMC-F△1313S (S = 22 mm)
*ECMC-F△1318S (S = 22 mm)
3000 W ASD-A2-3023-N
ECMC-E△1830S (S = 35 mm)
ECMC-F△1830S (S = 35 mm)
ECMC-C△13308LA (8 = 28 mm)
注： 1) 驱动器型号后的为机种代码，请参照实际购买产品的型号信息。
2) 伺服电机型号中的为刹车或键槽／油封规格。
3) 伺服电机型号中的△为编码器型式。
* 标示为高惯量电机。
上表以伺服电机的额定电流的三倍来设计伺服驱动器的规格。电机及驱动器的详细规格请参
照第十一章。
第一章 产品检查与型号说明ASDA-A2 系列
119
1.5.3 ASDA-A2-XN 系列 伺服驱动器各部名称
伺服驱动器各机种面盖 (正面图)
请参照驱动器型号后两码为机种代码，各机种的面盖外观如下列图示，若有不同，请以实际
购买的产品为准。
- - --
端口 功能 说明
CN1 输出/输入信号用连接头
连接至可程控器(PLC)或是控制I/O
50 pin: -LN全系列适用
26 pin: -EN全系列与-FN, -MN(3 kW以下)适用
CN2 编码器连接头 连接至伺服电机上的编码器接头
CN3 RS-485连接头 连接至上层控制器 (仅适用-LN 机种)
CN4 USB连接头 连接至个人计算机
CN5 全闭环连接头 连接至光学尺
CN6 通信端口
通讯控制用端口 (仅适用-EN, -FN, -MN机种)
*通信端口功能:
CANopen: -MN机种适用
DMCNET: -FN机种适用
EtherCAT: -EN机种适用
CN7 外部DI连接头 可扩充七点DI (仅适用-EN机种)
CN8 绝对型电池接头 连接至绝对型编码器在线的电池接头
CNSTO CN-STO Safe Torque Off
第一章 产品检查与型号说明ASDA-A2 系列
1-20
伺服驱动器（上视图）
L1c给单/三相
~，50/60H z电源
、、
，/
1) ，
、，
) ，
，
、
) ，
、，
、
电源
伺服驱动器（下视图）
(,,) ，
2-1
第二章 安装
2.1 注意事项
请使用者特别注意：
若驱动器与电机联机超过 20 米 (65.62 英尺)，请加粗 UVW 连接线与编码器连接线。请参考
3.1.6 节编码器线径与电源 UVW 的对应表，请勿低于表中所列的规格。
2.2 储存环境条件
本产品在安装之前必须置于其包装箱内，若该机暂不使用，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 (-4°F 到 149°F)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、液体的环境中。
2.3 安装环境条件
安装驱动器与运转环境的条件：
无发高热装置、无水滴、蒸气、灰尘及油性灰尘、无腐蚀、易燃性的气、液体、无漂浮性的
尘埃及金属微粒、坚固无振动、无电磁噪声干扰的场所。
本产品电机使用条件：
使用环境温度为 0°C 到 40°C (32°F 到 104°F)。无发高热装置、无水滴、蒸气、灰尘及油性
灰尘、无腐蚀、易燃性的气、液体、无漂浮性的尘埃及金属微粒的场所。
本产品驱动器使用环境温度为 0°C 到 55°C (32°F 到 131°F)。若环境温度超过 45°C (113°F)
以上，请置于通风良好的场所。长时间的运转建议在 45°C 以下的环境温度，以确保产品性
能。如果本产品装在配电箱里，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。
第二章 安装ASDA-A2 系列
2-2
2.4 安装方向与空间
注意事项：
◼ 安装方向必须依规定，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，其上下左右与相邻的物品和挡板(墙)
必须保留足够的空间，否则会造成故障。其吸、排气孔不可封住，也不可倾倒放置，否
则会造成故障。
◼ 不可将伺服驱动器并联使用，否则会造成驱动器 soft-start 电阻或是整流子烧毁，引发危
险。
正确的方向
错误的方向
第二章 安装ASDA-A2 系列
2-3
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，请使用者遵守一台与多台交流伺服
驱动器的安装间隔距离建议值（如下图所示）。
注： 安装图文件的间隔距离与文字批注非等比例尺寸，请以文字批注为准。
第二章 安装ASDA-A2 系列
2-4
2.5 断路器与保险丝建议规格表
220V 机种
驱动器型号 断路器 保险丝（Class T）
操作模式 一般 一般
ASD-A2-0121- 5A 5A
ASD-A2-0221- 5A 5A
ASD-A2-0421- 10A 10A
ASD-A2-0721- 10A 20A
ASD-A2-1021- 15A 25A
ASD-A2-1521- 20A 40A
ASD-A2-2023- 30A 50A
ASD-A2-3023- 30A 70A
ASD-A2-4523- 70A 140A
ASD-A2-5523- 75A 150A
ASD-A2-7523- 95A 175A
ASD-A2-1B23- - -
ASD-A2-1F23- - -
注：
1. 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。
2. 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)。
3. 使用 UL / CSA 承认之保险丝与断路器。
第二章 安装ASDA-A2 系列
2-5
400V 机种
驱动器型号 断路器 保险丝（Class T）
操作模式 一般 一般
ASD-A2-0443- 10A 10A
ASD-A2-0743- 10A 15A
ASD-A2-1043- 15A 20A
ASD-A2-1543- 20A 25A
ASD-A2-2043- 25A 30A
ASD-A2-3043- 30A 50A
ASD-A2-4543- 50A 80A
ASD-A2-5543- 60A 90A
ASD-A2-7543- 70A 120A
ASD-A2(R)-1B43- - -
ASD-A2(R)-1F43- - -
注：
1. 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。
2. 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)。
3. 使用 UL / CSA 承认之保险丝与断路器。
第二章 安装ASDA-A2 系列
2-6
2.6 铁氧体磁环
磁环、又称铁氧体磁环，常用于可拆卸或是圆圈造型的分离式磁环，一般使用铁氧体材料
(Mn-Zn)制成。磁环在不同的频率下有不同的阻抗特性，一般在低频时阻抗很小，当信号频率
升高，磁环表现的阻抗急遽升高，使正常有用的信号容易通过，又能有效抑制高频干扰信号
的通路，解决了电源线、信号线和连接器的高频干扰抑制问题。
UNIT: mm (inch)
Model OD ID HT Winding
condition
Inductance
L (OA)
Initial
permeability
ASD-ACFC7K00 68.0 ± 0.6 44.0 ± 0.6 13.5 ± 0.5 Ø 0.5 2UEW 20TS 2.6 mH ±
25% 5500
磁环型号 可搭配的驱动器机种
ASD-ACFC7K00
ASD-A2-4523-, ASD-A2-5523-, ASD-A2-7523-,
ASD-A2-1B23-, ASD-A2-1F23-
ASD-A2-2043-, ASD-A2-3043-, ASD-A2-4543-,
ASD-A2-5543-, ASD-A2-7543-, ASD-A2(R)-1B43-, ASD-A2(R)-1F43-
安装注意事项
一般会使用到磁环的场合，是当伺服电机 Servo On 的情况下，有噪声经由传导和辐射的方
式干扰接口设备(例如控制器)，因为配盘上的各配线和作为基准的大地之间的寄生电容虽然
很微弱，但当信号频率增大时(Servo On)，微弱的寄生电容电阻降低，则使共模电流容易通
过。一般共模电流不会主动通过电子电路，但当电源电路或驱动器的地线接触不良时，其所
驱动的电路整体也会不稳定，从而形成共模干扰。此电路中如有连接外部的电缆，电缆中也
会有共模电流通过，由于其电位相对地不稳定，故形成干扰电波射出，产生共模干扰。
磁环在抑制共模干扰时，通过磁环对高频讯号的涡流损耗，把高频成分转化为热损耗，因此
构成一个低通滤波器，使高频噪声产生较大的衰减，而对低频有用的信号的阻抗可以忽略，
不影响电路正常的工作。
第二章 安装ASDA-A2 系列
2-7
如欲增强磁环的使用效果，可将穿过磁环的导线反复绕以提高电感量，增加吸收长度。
我们建议的安装方式如下图 :
1. 用于 A2-220V 机种 （4.5 kW ~ 7.5 kW）和 A2-400V 机种（2 kW ~ 7.5 kW）
2. 用于 A2-220V 机种（11 kW ~ 15 kW）和 A2-400V 机种（11 kW ~ 15 kW）
注：
1. 电机动力线的选用请参考 3.1.4 节。
2. 配线时，请勿穿过地线，只需穿过电机线或电源线。若有需要地线，请另外安装磁环。
3. 当使用长的电机输出线时，可能需使用 EMI 滤波器以减低辐射。
第二章 安装ASDA-A2 系列
2-8
2.7 电磁干扰滤波器（EMI Filters）选型
220V 机种
项目 功率 驱动器型号 EMI 滤波器型号 FootPrint
1PH 3PH
1 100 W ASD-A2-0121- RF007S21AA RF022B43AA N
2 200 W ASD-A2-0221- RF007S21AA RF022B43AA N
3 400 W ASD-A2-0421- RF007S21AA RF022B43AA N
4 750 W ASD-A2-0721- RF007S21AA RF037B43BA N
5 1000 W ASD-A2-1021- RF007S21AA RF037B43BA N
6 1500 W ASD-A2-1521- RF015B21AA RF037B43BA N
7 2000 W ASD-A2-2023- - RF037B43BA N
8 3000 W ASD-A2-3023- - RF037B43BA N
9 4500 W ASD-A2-4523- - RF075M43BA N
10 5500 W ASD-A2-5523- - RF075M43BA Y
11 7500 W ASD-A2-7523- - 30TDRT1W4 Y
12 11 kW ASD-A2-1B23- - 50TDS4W4C -
13 15 kW ASD-A2-1F23- - 50TDS4W4C -
400V 机种
项目 功率 驱动器型号 EMI 滤波器型号 FootPrint
1 750 W ASD-A2-0743- RF007S43AA N
2 1000 W ASD-A2-1043- RF007S43AA N
3 1500 W ASD-A2-1543- RF022B43AA N
4 2000 W ASD-A2-2043- RF037B43BA N
5 3000 W ASD-A2-3043- RF037B43BA N
6 4500 W ASD-A2-4543- RF075M43BA N
7 5500 W ASD-A2-5543- RF075M43BA Y
8 7500 W ASD-A2-7543- RF075M43BA Y
9 11 kW ASD-A2(R)-1B43- KMF370A -
10 15 kW ASD-A2(R)-1F43- KMF370A -
第二章 安装ASDA-A2 系列
2-9
EMI 滤波器（EMI Filter）安装注意事项
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噪声，并经
由传导或辐射的方式干扰外围设备。如果可以搭配适当的 EMI 滤波器（EMI Filter）及正确的
安装方式，将可以使干扰降至最低。建议搭配台达 EMI 滤波器（EMI Filter），以便发挥最大
的抑制干扰效果。
在安装伺服驱动器及 EMI 滤波器（EMI Filter）时，若能按照使用手册的内容进行安装及配线，
则可符合以下规范：
1. EN61000-6-4（2001）
2. EN61800-3（2004）PDS of category C2
3. EN55011+A2（2007）Class A Group 1
安装注意事项
为了确保 EMI 滤波器（EMI Filter）能发挥最大的抑制干扰效果，除了伺服驱动器需能按照使
用手册的内容安装及配线之外，还需注意以下几点：
1. 伺服驱动器及 EMI 滤波器（EMI Filter）都必须要安装在同一块金属平面上。
2. 伺服驱动器及 EMI 滤波器（EMI Filter）安装时，请尽量将伺服驱动器安装在 EMI 滤波
器（EMI Filter）之上。
3. 尽量缩短配线长度。
4. 金属平面要有良好的接地。
5. 伺服驱动器及 EMI 滤波器（EMI Filter）的金属外壳或接地必须固定在金属平面上，并
使两者间的接触面积最大化。
6. 建议安装规格为一台伺服驱动器搭配一台 EMI 滤波器。
第二章 安装ASDA-A2 系列
2-10
选用电机线及安装注意事项
电机线的选用及安装正确与否，关系着 EMI 滤波器（EMI Filter）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.U 型金属配管支架与金属平面固定处需将保护漆移除，确保接触良好，请见下图所示。
4. 电机线的隔离铜网与金属平面的连接方式需正确，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，正确连接方式请见下图。
(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
第二章 安装ASDA-A2 系列
2-11
2.8 回生电阻的选择方法
当电机的出力矩和转速的方向相反时，代表能量从负载端传回至驱动器内。此能量灌注 DC
bus 中的电容使得其电压值往上升。当上升到 DCbus 的保护范围时，回灌的能量只能靠回生
电阻来消耗。驱动器内建回生电阻，使用者也可以外接回生电阻。
ASDA-A2 220V 系列回生电阻的规格
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
单位 : Watt
最小容许电阻值
单位 : Ω
电阻值（P1-52）
单位 : Ω
容量（P1-53）
单位 : Watt
0.1 - - - 30
0.2 - - - 30
0.4 40 40 20 30
0.75 40 60 30 20
1.0 40 60 30 20
1.5 40 60 30 20
2.0 20 100 50 10
3.0 20 100 50 10
4.5 20 100 50 10
5.5 - - - 8
7.5 - - - 5
11 - - - 8
15 - - - 5
ASDA-A2 400V 系列回生电阻的规格(A2-XN / A2-E 除外)
驱动器（kW）
内建回生电阻规格
最小容许电阻值
单位 : Ω
电阻值（P1-52）
单位 : Ω
容量（P1-53）
单位 : Watt
0.75 80 100 60
1.0 80 100 60
1.5 80 100 40
2.0 - - 40
3.0 - - 30
4.5 - - 20
5.5 - - 20
7.5 - - 15
11 - - 15
15 - - 12
第二章 安装ASDA-A2 系列
2-12
ASDA-A2-XN / A2-E 400V 系列回生电阻的规格
驱动器（kW）
内建回生电阻规格
最小容许电阻值
单位 : Ω
电阻值（P1-52）
单位 : Ω
容量（P1-53）
单位 : Watt
0.4 80 40 60
0.75 80 40 60
1.0 80 40 60
1.5 80 40 40
2.0 - - 40
3.0 - - 30
4.5 - - 20
5.5 - - 20
7.5 - - 15
11* - - 15
15* - - 12
注：A2R 400V 11kW 与 15kW 的规格与上表相同。
当回生容量超出内建回生电阻可处理的回生容量时，应外接回生电阻来解决过多能量储存于
DC 电容器内的问题。使用回生电阻时需注意以下几点：
1. 请正确设定回生电阻的电阻值（P1-52）与容量（P1-53），否则将影响该功能的执行。
2. 当使用者欲外接回生电阻时，请确定所使用的电阻值不可以小于驱动器最小容许回生
电阻值；一般的应用方式会以多颗电阻串联使用，如果买到的电阻串联起来的阻值是
超过设定的，也可以通过并联的方式来降低电阻值。若使用者欲以并联方式增加回生
电阻器的功率时，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，请参考下面的解说：
10Ω
设定:
P1-52 = 10 (Ω)
P1-53 = 1000 (W)
设定:
P1-52 = 20 (Ω)
P1-53 = 2000 (W)
第二章 安装ASDA-A2 系列
2-13
,
设定:
P1-52 = 5 (Ω)
P1-53 = 2000 (W)
3. 在自然环境下，当回生电阻器可处理的回生容量（平均值）在额定容量下使用时，电
阻的温度将上升至 120°C (248°F)以上（在持续回生的情况下）。基于安全理由，请采
用强制冷却方式，以降低回生电阻的温度；或建议使用具有热敏开关的回生电阻器。
关于回生电阻器的负载特性，请向制造商洽询。
使用外部回生电阻时，电阻连接至 P、C 端，P、D 端开路。外部回生电阻尽量选择上页表格
建议的电阻数。为了让使用者容易估算所需回生电阻的容量，我们忽略 IGBT 消耗能量。外
部回生电阻容量的选择，则分成由回生能量选择或简易选择两种方式来讨论。
(1) 回生能量选择
(a) 当外部负载扭矩不存在
若电机运作方式为往复来回动作，刹车所产生的回灌能量先进入 DC bus 的电容，待电
容的电压超过某一数值，回生电阻将消耗多余的回灌能量。在此将提供二种回生电阻的
选定方式。下表提供能量计算的公式，使用者可参考并计算所需要选择的回生电阻。
220V 机种
驱动器
(kW)
电机 转子惯量
J (× 10-4kg.m2
)
空载额定转速到
静止的回生能量
Eo (joule)
电容最大回生
能量 Ec (joule)
低
惯
量
0.1 ECMA-C△040F 0.021 0.10 4.21
0.1 ECMA-C△0401 0.037 0.18 4.21
0.2 ECMA-C△0602 0.177 0.87 5.62
0.4 ECMA-C△0604 0.277 1.37 8.42
0.4 ECMA-C△0804 0.68 3.36 8.42
0.75 ECMA-C△0807 1.13 5.59 17.47
0.75 ECMA-C△0907 1.93 9.54 17.47
1.0 ECMA-C△1010 2.65 13.10 21.22
1.0 ECMC-C△0910 2.62 12.96 21.22
2.0 ECMA-C△1020 4.45 22.0 25.58
3.0 ECMA-C△1330 12.7 62.80 25.58
第二章 安装ASDA-A2 系列
2-14
驱动器
(kW)
电机 转子惯量
J (× 10-4kg.m2
)
空载额定转速到
静止的回生能量
Eo (joule)
电容最大回生
能量 Ec (joule)
中
惯
量
0.75 ECMA-E△1305 8.17 17.96 17.47
1.0 ECMA-E△1310 8.41 18.48 21.22
1.5 ECMA-E△1315 11.18 24.57 25.58
2.0 ECMA-E△1320 14.59 32.07 25.58
2.0 ECMA-E△1820 34.68 76.22 25.58
3.0 ECMA-E△1830 54.95 120.77 31.20
3.0 ECMA-E△1835 54.95 120.77 31.20
中
高
惯
量
0.75 ECMA-F△1305 10.3 17.96 17.47
1.0 ECMA-F△1308 13.6 16.81 21.22
2.0 ECMA-F△1313 20.0 24.73 25.58
2.0 ECMA-F△1318 24.9 30.78 25.58
3.0 ECMA-F△1830 54.95 67.93 31.20
4.5 ECMA-F△1845 77.75 96.12 47.89
5.5 ECMA-F△1855 99.78 123.35 51.17
7.5 ECMA-F△1875 142.7 176.41 93.60
11.0 ECMA- F△221B 329.0 417.86 117
15.0 ECMA- F△221F 553.0 557.55 156
高
惯
量
0.4 ECMA-G△1303 8.17 4.49 8.42
0.75 ECMA-G△1306 8.41 18.48 17.47
1.0 ECMA-G△1309 11.18 24.57 21.22
0.4 ECMA-C△0604H 0.743 3.67 8.42
0.75 ECMA-C△0807H 2.91 14.39 17.47
Eo = J * wr2
/182（joule）, Wr : r/min
第二章 安装ASDA-A2 系列
2-15
400V 机种
驱动器
(kW)
电机 转子惯量
J (× 10-4kg.m2
)
空载额定转速到
静止的回生能量
Eo (joule)
电容最大回生能
量 Ec (joule)
低
惯
量
0.75 ECMA-J△0604 0.277 1.37 8.42
0.75 ECMA-J△0807 1.13 5.59 42.43
0.75 ECMA-J△0907 1.93 9.54 42.43
1.0 ECMA-J△0910 2.62 12.96 51.17
1.5 ECMA-J△1010 2.65 13.10 51.17
2.0 ECMA-J△1020 4.45 22.01 34.94
3.0 ECMA-J△1330 12.7 62.80 42.43
中
惯
量
0.75 ECMA-K△1305 8.17 17.95 42.43
1.0 ECMA-K△1310 8.41 18.48 51.17
1.5 ECMA-K△1315 11.18 24.57 57.41
2.0 ECMA-K△1320 14.59 32.07 34.94
2.0 ECMA-K△1820 34.68 76.22 34.94
中
高
惯
量
0.75 ECMA-L△1305 13.1 16.20 42.43
1.5 ECMA-L△1313 23.6 29.18 42.43
3.0 ECMA-L△1830 54.95 67.93 42.43
4.5 ECMA-L△1845 77.75 96.12 51.17
5.5 ECMA-L△1855 99.78 123.35 57.41
7.5 ECMA-L△1875 142.7 176.41 74.88
11.0 ECMA-L△221B 338 417.86 114.82
15.0 ECMA-L△221F 451 557.55 172.22
高
惯
量
1.0 ECMA-L△1308 17.1 21.14 51.17
1.5 ECMA-M△1309 11.18 6.14 57.41
Eo = J * wr2
/182（joule）, Wr : r/min
