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序言
感谢您使用本产品，本使用手册提供 ASDA-B3 系列伺服驱动器 (简称 B3) 及 ECM-B3 与 ECM-A3 系列伺服
电机的相关信息。
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
◼ 试运转操作的步骤
◼ 伺服调机教学
◼ 运动控制说明
◼ 参数说明
◼ 通讯协议说明
◼ 异警排除
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。
◼ 新一代电机：短而小的设计可满足设备结构小型化与轻量化的需求。
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 1 章到第 5 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。
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安全注意事项
本产品为一高解析开放型 (Open type) 的伺服驱动器，操作时须安装于屏蔽式的配电箱内。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号处理器 (Digital Signal Processor, DSP)，来控制 IGBT 产生精确
之电流输出，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。
本系列产品可使用于工业应用场合上，且建议安装于使用手册中之配电箱环境 (驱动器、线材及电机都必须安
装于符合 UL50 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「禁止」、「危险」及「警告」及代表之涵义：
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。
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。
接收检验
请依照指定方式搭配使用伺服驱动器及伺服电机，否则可能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 标准 (100Ω 以下) 的接地系统，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。
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操作注意
当伺服电机运转时，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，使电机在无负载的状态下进行运转。
◼ 在伺服电机和机械设备连接运转后，如果发生操作错误，会造成机械设备的损坏，还可能导致人身伤害。
◼ 强烈建议：请先在无负载的情况下，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。
◼ 运转时，请勿触摸伺服驱动器之散热片，否则可能造成烫伤。
◼ 动态煞车动作的间隔时间需大于五分钟。
◼ 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。
◼ 机械设备开始运转前，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。
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。
◼ 在「CHARGE」指示灯尚未熄灭时，不得接触接线端子，因为残余电压可能会造成触电。不得拆开伺
服电机，否则可能会造成触电或人员受伤。
◼ 不得在开启电源的情况下改变配线，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。
主电路配线
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。
◼ 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，信号线最长为 3
公尺 (9.84 英呎)，编码器线最长为 20 公尺 (65.62 英呎)。
◼ 即使关闭伺服驱动器电源，内部仍然可能会滞留高电压，此时请不要触摸电源端子，需等待
「CHARGE」指示灯熄灭后才可进行配线。
◼ 配线时，请将端子台的螺丝确实压紧。
◼ 插入电线时，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。
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漏电电流
◼ 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。
废弃时的注意事项
废弃产品时，请依照一般工业废弃物处置，并遵守当地法律及规定。
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认证信息
获得认证之产品将于铭牌上标示对应的认证标志，无标志之产品表示尚未符合相关规格。
安规证书请至台达官网下载中心下载或洽询台达。
伺服驱动器、伺服电机与其配件皆非中国强制性产品认证制度 (CCC) 的规范对象。
认证标志 驱动器认证 规格
CE
EMC 指令 EN IEC 61800-3
低电压指令 EN 61800-5-1
UL UL 标准 UL 61800-5-1
TÜ V SÜ D
机械指令
EN IEC 62061: 2021
EN 61800-5-2: 2017
EN ISO 13849-1: 2023
功能安全 IEC / EN 61508: 2010
功能安全 EMC
EN 61326-3-1: 2017
EN 61000-6-7: 2015
TÜ V Rheinland
机械指令
EN IEC 62061: 2021
EN 61800-5-2: 2017
EN ISO 13849-1: 2015
功能安全 IEC / EN 61508: 2010
功能安全 EMC
EN 61326-3-1: 2017
EN 61000-6-7: 2015
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检查及保养
操作条件：
◼ 年平均环境温度：30°C
◼ 平均负载率：80%以下
◼ 平均运行时间：20 小时/天
检查周期 检查项目
日常检查
确认环境温度、湿度是否正常。
确认电源的电压是否正常。
确认是否有异常震动或噪音。
确认是否有异常味道。
确认驱动器外观是否有异常。
确认通风口处是否有灰尘、纤维等异物堆积。注 1
确认配线是否损伤，有无松脱造成接触异常。
确认线材是否有松脱或受损。
定期检查 - 一年
确认螺丝锁附是否松动或受损。
确认驱动器、电机与配电箱的接地是否松脱。
确认入力、动力与回生相关端子是否有发黑、颜色异常或温度异常迹象。注 2
注：
1. 配电箱开孔处 (风扇或散热孔) 需加防尘滤网，并定期清除异物堆积。配电箱门需配置胶条且出线孔需配置橡胶圈，以增加密封度。
2. 重新确认配线是否正常，若端子已发黑或颜色异常时，建议更换新的端子。
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零件更换
操作条件：
◼ 年平均环境温度：30°C
◼ 平均负载率：80%以下
◼ 平均运行时间：20 小时/天
产品 零件名称 基本更换周期 备注
驱动器
电解电容 约 5 年
零件更换的周期会依据环境
条件、使用方法而不同，发
生异常时需立即更换。
冷却风扇
2 ~ 3 年
(10,000 ~ 30,000 小时)
继电器 约 100,000 次
Soft start 电阻 约 20,000 次
电池盒 电池 请参考 10.1.1 节
电机
轴承 20,000 小时
油封 5,000 小时
◼ 若零件已达更换周期，请洽询本公司或经销商，通过专业人员判断是否需要更换零件。
◼ 除了台达或台达授权之经销商外，请勿自行拆卸修理产品。
注：各版本内容若略有差异，请以台达网站最新公布信息为主。
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目录
使用前
产品型号说明
1.1 开箱确认 ········································································································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
1.3 ASDA-B3 伺服驱动器与伺服电机对应参照表 ························································1-11
1.3.1 220V 机种·······························································································1-11
ECM-A3 系列伺服电机 ··············································································1-11
ECM-B3 系列伺服电机 ··············································································1-12
1.3.2 400V 机种·······························································································1-13
ECM-B3 系列伺服电机 ··············································································1-13
1.4 ASDA-B3 伺服驱动器各部名称 ··········································································1-14
1.4.1 -L 机种···································································································1-14
1.4.2 -M / -F 机种·····························································································1-15
1.4.3 -E 机种···································································································1-16
1.4.4 B3A-P 机种·····························································································1-17
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·····································································2-7
2.4.2 电机安装方向注意事项 ················································································2-8
2.4.3 使用油封电机的注意事项 2-9
2.4.4 电机安装对手件的注意事项 210
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 铁氧体磁环 ···································································································2-16
2
1
2.7 EMC 安装条件 ·······························································································2-17
2.7.1 电磁干扰滤波器 (EMI Filter) ·······································································2-18
2.8 回生电阻的选择方法 ·······················································································2-20
2.9 电磁抱闸的使用 ·····························································································2-26
2.10 线材的使用··································································································2-28
配线
3.1 台达系统配线 ··································································································3-4
3.1.1 外围装置接线图 (连接台达伺服通讯型电机) ·····················································3-4
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 动力接头规格 ····························································································3-9
3.1.4.1 F40 ~ F80 动力接头············································································3-10
3.1.4.2 F100 ~ F130 动力接头·········································································3-12
3.1.4.3 F180 4.5 kW (含) 以下动力接头 ····························································3-12
3.1.4.4 F180 5.5 kW (含) 以上动力接头 ····························································3-13
3.1.4.5 F100 ~ F180 抱闸接头·········································································3-13
3.1.5 编码器接头规格 ·······················································································3-14
3.1.5.1 F40 ~ F80 编码器接头·········································································3-14
标准接头 ··························································································3-14
乔合里接头 ·······················································································3-15
锁固式接头 ·······················································································3-16
3.1.5.2 F100 ~ F180 编码器接头······································································3-17
3.1.6 线材的选择 ·····························································································3-18
3.1.6.1 线材规格 / 端子台 / 螺丝与锁附扭力规格···············································3-18
3.1.6.1.1 220V 机种 ··················································································3-18
3.1.6.1.2 400V 机种 3-20
3.1.6.2 编码器线材规格 ·················································································3-22
3.1.6.3 动力线材规格 ····················································································3-23
3.1.6.4 耐挠曲线材规格 ·················································································3-28
3.1.6.5 台达接头随附端子线径 ········································································3-28
3.1.7 接头安装说明 ··························································································3-29
3.1.7.1 接头规格 ··························································································3-29
3.1.7.2 F40 ~ F80 动力 / 抱闸 / 编码器接头 3-31
乔合里接头 ·······················································································3-31
锁固式接头 ·······················································································3-32
3.1.7.3 F100 ~ F180 4.5 kW(含)以下动力接头 ····················································3-34
3.1.7.4 F100 ~ F180 抱闸 / 编码器接头····························································3-35
3.2 伺服系统基本方块图 ·······················································································3-36
3.2.1 220V 机种3-36
3.2.2 400V 机种3-38
3
3.3 CN1 I/O 讯号接线···························································································3-39
3.3.1 通讯型机种 (-E、-F、-M 机种) ····································································3-39
3.3.1.1 通讯型机种 CN1 I/O 连接器端子与讯号说明 ·············································3-39
3.3.1.2 通讯型机种应用：使用 CN1 便利接头配线 ···············································3-44
3.3.1.3 通讯型机种 CN1 接口接线图·································································3-46
3.3.2 通讯型机种 (B3A-P 机种)···········································································3-51
3.3.2.1 通讯型机种 CN1 I/O 连接器端子与讯号说明 ·············································3-51
3.3.2.2 通讯型机种 CN1 接口接线图·································································3-54
3.3.3 脉冲型机种 (-L 机种)·················································································3-56
3.3.3.1 脉冲型机种 CN1 I/O 连接器端子与讯号说明 ·············································3-56
3.3.3.2 脉冲型机种应用：使用 CN1 便利接头配线 ···············································3-63
3.3.3.3 脉冲型机种 CN1 接口接线图·································································3-65
3.4 CN2 编码器讯号接线·······················································································3-70
3.4.1 F40 ~ F80 电机编码器线············································································3-71
3.4.2 F100 ~ F180 电机编码器线·········································································3-72
3.4.3 CN2 接头屏蔽施工说明··············································································3-73
3.5 CN3 通讯端口讯号接线····················································································3-74
3.5.1 Modbus 通讯端口讯号接线 ·········································································3-74
3.5.2 CANopen 通讯端口讯号接线·······································································3-76
3.6 CN4 串行通讯端口 (Mini USB) ··········································································3-78
3.7 CN6 通讯端口讯号接线····················································································3-79
3.7.1 DMCNET 通讯端口讯号接线·······································································3-79
3.7.2 EtherCAT 通讯端口讯号接线·······································································3-81
3.7.3 PROFINET 通讯端口讯号接线·····································································3-85
3.8 CN10 STO 端子 (SIL3) ···················································································3-86
3.8.1 STO 介绍 ·······························································································3-86
3.8.2 使用上的注意事项 ····················································································3-86
3.8.3 潜在风险 ································································································3-87
3.8.4 安全参数 ································································································3-88
3.8.5 STO 动作 ·······························································································3-89
3.8.5.1 反应时间 3-89
3.8.5.2 异警触发 ··························································································3-90
3.8.5.3 解除 STO 状态的方法··········································································3-92
3.8.6 STO 配线 ·····························································································3-100
3.8.6.1 CN10 STO 端子···············································································3-100
3.8.6.2 输入输出讯号规格 ············································································3-101
3.8.6.3 不使用 STO 功能··············································································3-102
3.8.6.4 单轴使用 STO 功能3-102
3.8.6.5 多轴使用 STO 功能3103
3.8.7 验证测试 ······························································································3-104
3.9 CN10 STO 端子 (SIL2) ·················································································3-105
3.9.1 STO 介绍 ·····························································································3-106
3.9.2 STO 使用上的注意事项············································································3-106
3.9.3 STO 规格 ·····························································································3-106
3.9.4 STO 动作原理 ·······················································································3-107
3.9.4.1 启动状态 ························································································3-107
3.9.4.2 回复状态 ························································································3-109
3.9.5 STO 配线 ····························································································· 3-110
3.9.5.1 不使用 STO 功能·············································································· 3-110
3.9.5.2 单轴使用 STO 功能··········································································· 3-110
3.9.5.3 多轴使用 STO 功能············································································3-111
3.10 标准接线方式····························································································· 3-112
3.10.1 位置(PT)模式标准接线 - 差分脉冲讯号 ····················································· 3-112
3.10.2 位置(PT)模式标准接线 - 开集极脉冲讯号 ·················································· 3-114
3.10.3 位置(PR)模式标准接线 - 内部位置命令····················································· 3-116
3.10.4 速度(S)模式标准接线············································································· 3-119
3.10.5 扭矩(T)模式标准接线·············································································3-122
3.10.6 CANopen 通讯模式标准接线 ···································································3-125
3.10.7 DMCNET 通讯模式标准接线 ···································································3-126
3.10.8 EtherCAT 通讯模式标准接线 ···································································3-127
3.10.9 PROFINET 通讯模式标准接线·································································3-128
试运转与面板操作
4.1 面板各部名称 ··································································································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 异警讯息显示 4-7
4.3.4 正负号设定显示 ·························································································4-7
4.3.5 监视显示 ··································································································4-7
4.3.6 PROFINET 的 Flash LED 功能 ······································································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 412
4.4.4 数字输出诊断操作 ····················································································4-12
4.5 试运转 ·········································································································4-13
4.5.1 初步检测 ································································································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
4
如何调机
调机
5.1 调机流程 ········································································································5-4
5.2 惯量估测 ········································································································5-5
5.2.1 惯量估测注意事项 ······················································································5-5
5.2.2 惯量估测 - 操作 ASDA-Soft 软件···································································5-6
5.3 一键调机 ········································································································5-9
5.3.1 一键调机注意事项 ······················································································5-9
5.3.2 一键调机 - 操作 ASDA-Soft 软件·································································5-10
5.4 自动调机 ······································································································5-13
5.4.1 自动调机注意事项 ····················································································5-14
5.4.2 自动调机流程图 ·······················································································5-15
5.4.3 自动调机 - 操作面板 ················································································5-16
5.4.4 自动调机 - 操作 ASDA-Soft 软件·································································5-17
5.4.5 自动调机相关参数 ····················································································5-24
5.4.5.1 自动增益调整准位 1 (P2.105) - 调整刚性 ··················································5-24
5.4.5.2 自动增益调整准位 2 (P2.106) - 调整响应 ··················································5-25
5.4.6 自动调机相关异警 ····················································································5-26
5.5 增益调整模式 ································································································5-27
5.5.1 增益调整模式差异表 ·················································································5-27
5.5.2 增益调整模式流程 ····················································································5-29
5.5.3 增益调整模式 1 ························································································5-30
5.5.4 增益调整模式 2 ························································································5-30
5.5.5 增益调整模式 3 ························································································5-31
5.5.6 增益调整模式 4 ························································································5-32
5.5.7 增益调整模式 5 ························································································5-33
5.5.8 增益调整模式 6 5-33
5.5.9 增益调整模式相关参数 ··············································································5-34
5.5.9.1 带宽响应层级 (P2.031) - 调整刚性 ························································5-34
5.5.9.2 命令响应增益 (P2.089) - 调整响应 ························································5-35
5.5.9.3 速度环响应带宽设定 (P2.126) - 调整带宽 ···············································5-35
5.6 手动调整增益参数 ··························································································5-36
5.6.1 手动调整增益流程 - 速度模式·····································································5-38
5.6.2 手动调整增益流程 位置模式5-39
5.6.3 手动调整增益 操作 ASDA-Soft 软件5-40
5.7 机械共振与异音的处理·····················································································5-41
5.7.1 共振抑制 Notch filter ·················································································5-42
5.7.1.1 功能限制 ··························································································5-42
5.7.1.2 功能说明 ··························································································5-42
5
5.7.1.3 参数介绍 ··························································································5-43
5.7.1.4 应用范例 ··························································································5-45
5.7.2 共振抑制低通滤波器 ·················································································5-47
5.7.2.1 功能限制 ··························································································5-47
5.7.2.2 功能说明 ··························································································5-47
5.7.2.3 应用范例 ··························································································5-47
5.7.3 速度检测滤波器 ·······················································································5-48
5.7.3.1 功能限制 ··························································································5-48
5.7.3.2 功能说明 ··························································································5-48
5.7.3.3 应用范例 ··························································································5-49
5.7.4 低频抑振滤波器 ·······················································································5-50
5.7.4.1 功能限制 ··························································································5-50
5.7.4.2 功能说明 ··························································································5-50
5.7.4.3 应用范例 ··························································································5-52
5.7.5 模型抑振滤波器 ·······················································································5-53
5.7.5.1 双自由度模式功能限制 ········································································5-53
5.7.5.2 双自由度模式功能说明 ········································································5-54
5.7.5.3 双自由度模式应用范例 ········································································5-55
5.7.5.4 挠性补偿功能限制 ··············································································5-56
5.7.5.5 挠性补偿功能说明 ··············································································5-56
5.7.5.6 挠性补偿应用范例 ··············································································5-57
5.7.6 位置命令滤波器 ·······················································································5-58
5.7.6.1 功能限制 ··························································································5-58
5.7.6.2 功能说明 ··························································································5-58
5.7.6.3 应用范例 ··························································································5-59
5.7.7 速度命令滤波器 ·······················································································5-60
5.7.7.1 功能限制 ··························································································5-60
5.7.7.2 功能说明 ··························································································5-60
5.7.7.3 应用范例 ··························································································5-60
5.7.8 扭矩命令滤波器 ·······················································································5-61
5.7.8.1 功能限制 5-61
5.7.8.2 功能说明 ··························································································5-61
5.7.8.3 应用范例 ··························································································5-61
5.8 应用功能调整 ································································································5-62
5.8.1 等速段位置误差调整 ·················································································5-62
5.8.1.1 功能限制 ··························································································5-62
5.8.1.2 功能说明 ··························································································5-62
5.8.1.3 应用范例 5-63
5.8.2 位置过冲调整 5-64
5.8.2.1 功能限制 ··························································································5-64
5.8.2.2 功能说明 ··························································································5-64
5.8.2.3 应用范例 ··························································································5-64
5.8.3 多轴轨迹控制 ··························································································5-65
5.8.3.1 功能限制 ··························································································5-65
5.8.3.2 功能说明 ··························································································5-65
5.8.3.3 应用范例 ··························································································5-67
5.8.4 增益切换 ································································································5-69
5.8.4.1 功能限制 ··························································································5-69
5.8.4.2 功能说明 ··························································································5-69
5.8.4.3 应用范例 ··························································································5-69
控制机能
6.1 控制模式选择 ··································································································6-3
6.2 位置模式 ········································································································6-4
6.2.1 PT 模式位置命令························································································6-4
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····························································································6-7
6.2.5 电子齿轮比 ·······························································································6-8
6.2.6 低通滤波器 ·······························································································6-9
6.2.7 位置模式 (PR) 时序图 ················································································6-9
6.2.8 位置环增益调整 ·······················································································6-10
6.2.9 位置模式低频抑振 ····················································································6-11
6.3 速度模式 ······································································································6-12
6.3.1 速度命令的选择 ·······················································································6-12
6.3.2 速度模式控制架构 ····················································································6-13
6.3.3 速度命令的平滑处理 ·················································································6-14
6.3.4 模拟速度命令比例器 ·················································································6-16
6.3.5 速度模式时序图 ·······················································································6-17
6.3.6 速度环增益调整 ·······················································································6-18
6.3.7 共振抑制单元 ··························································································6-20
6.4 扭矩模式 ······································································································6-22
6.4.1 扭矩命令的选择 ·······················································································6-22
6.4.2 扭矩模式控制架构 ····················································································6-23
6.4.3 扭矩命令的平滑处理 6-23
6.4.4 模拟扭矩命令比例器 ·················································································6-24
6.4.5 扭矩模式时序图 ·······················································································6-25
6.5 混合模式 ······································································································6-26
6.5.1 速度 / 位置混合模式·················································································6-27
6.5.2 速度 / 扭矩混合模式·················································································6-28
如何操作与设定
6
6.5.3 扭矩 / 位置混合模式·················································································6-29
6.6 其他 ···········································································································6-30
6.6.1 速度限制的使用 ·······················································································6-30
6.6.2 扭矩限制的使用 ·······················································································6-30
6.6.3 模拟监控 ································································································6-31
运动控制功能说明
7.1 PR 模式说明 ···································································································7-2
7.1.1 PR 共享参数资料 ·······················································································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 ··························································································7-20
7.1.3.3 位置命令 ··························································································7-22
7.1.3.4 程序跳转命令 ····················································································7-25
7.1.3.5 写入命令 ··························································································7-26
7.1.3.6 分度位置命令 ····················································································7-28
7.1.4 PR 程序表示方法 ·····················································································7-31
7.1.5 PR 命令触发方式 ·····················································································7-37
7.1.6 PR 程序执行流程 ·····················································································7-41
7.2 运动控制应用功能 ··························································································7-53
7.2.1 数据数组 ································································································7-53
7.2.2 高速位置抓取 (Capture) ············································································7-56
7
参数与功能
8.1 参数定义 ········································································································8-2
8.2 参数说明 ········································································································8-3
P0.xxx 监控参数 ································································································8-3
P1.xxx 基本参数 ······························································································8-18
P2.xxx 扩充参数 ······························································································8-56
P3.xxx 通讯参数 ······························································································8-93
P4.xxx 诊断参数 ····························································································8-103
P5.xxx Motion 设定参数 ·················································································· 8-112
P6.xxx PR 路径定义参数 ·················································································8-135
P7.xxx PR 路径定义参数 ·················································································8-158
表 8.1 数字输入(DI)功能定义表 ·········································································8-178
表 8.2 数字输出(DO)功能定义表········································································8-185
表 8.3 监控变量说明 ·······················································································8-190
Modbus 通讯
9.1 RS-485 通讯硬件接口························································································9-2
9.2 RS-485 通讯参数······························································································9-3
9.3 Modbus 通讯协议 ·····························································································9-3
9.4 通讯参数的写入与读取·····················································································9-13
9.5 RS-485 通讯规格····························································································9-14
绝对型伺服系统
10.1 电池规格·····································································································10-3
10.2 安装···········································································································10-5
10.2.1 安装电池盒于伺服系统·············································································10-5
10.2.2 如何安装及更换电池················································································10-6
10.3 系统初始化与操作流程···················································································10-7
10.3.1 系统初始化····························································································10-7
10.3.2 脉冲数值10-8
10.3.3 PUU 数值10-9
10.3.4 建立绝对型原点坐标··············································································10-10
10.3.4.1 使用 DI/DO····················································································10-10
10.3.4.2 使用参数设定················································································· 10-11
10.3.4.3 使用 PR 原点复归功能 ····································································· 10-11
参数设定
8
10
9
10.3.4.4 使用 P1.001.X = C 的 Homing Mode 原点复归模式 ································ 10-11
10.3.5 读取绝对位置······················································································· 10-11
10.3.5.1 使用 DI/DO···················································································· 10-11
10.3.5.2 使用通讯功能·················································································10-14
CANopen 模式
11.1 基本配置·····································································································11-2
11.1.1 支持功能·······························································································11-2
11.1.2 硬件相关配置·························································································11-3
11.1.3 CANopen 模式的参数设定 ········································································11-4
11.2 通讯规格·····································································································11-5
11.2.1 伺服通讯架构·························································································11-5
11.2.2 通讯对象·······························································································11-6
11.2.2.1 PDO 物件························································································11-7
11.2.2.2 SDO 物件························································································11-8
11.2.2.3 SDO 异常码 (Abort Code) ·································································11-11
11.2.2.4 同步对象 (SYNC) ··········································································· 11-12
11.2.2.5 紧急物件 (EMCY)··········································································· 11-13
11.2.2.6 NMT Services ················································································ 11-14
11.3 CANopen 操作模式 ····················································································· 11-17
11.3.1 Profile Position Mode (位置规划模式) ························································ 11-17
11.3.2 Interpolated Position Mode (补间位置模式)················································· 11-22
11.3.3 Homing Mode (原点复归模式)·································································· 11-25
11.3.4 Profile Velocity Mode (速度规划模式) ························································ 11-27
11.3.5 Profile Torque Mode (扭矩规划模式)·························································· 11-29
11.4 Object Dictionary 对象字典············································································ 11-31
11.4.1 对象详述 (Specifications for Objects)························································ 11-31
11.4.2 物件一览表·························································································· 11-32
11.4.3 对象详细数据······················································································· 11-35
11.4.3.1 OD 1XXXh 通讯对象群组·································································· 11-35
11.4.3.2 OD 2XXXh 伺服参数群组·································································· 11-54
11.4.3.3 OD 6XXXh 通讯对象群组·································································· 11-55
11.5 疑难解答··································································································· 11-97
EtherCAT 模式
12.1 基本配置12-3
12.1.1 硬件相关配置·························································································12-3
12.1.2 ESI 档案汇入 127
12.1.3 EtherCAT 模式的参数设定 12-8
11
12
12.2 通讯功能···································································································12-12
12.2.1 规格···································································································12-12
12.2.2 同步模式·····························································································12-14
12.2.2.1 伺服驱动器同步模式········································································12-14
12.2.2.2 同步模式选择·················································································12-15
12.2.2.3 同步时钟设定·················································································12-15
12.2.3 状态机 (EtherCAT State Machine) ···························································12-16
12.2.4 PDO 映像配置 ·····················································································12-18
12.2.4.1 默认 PDO 映像配置·········································································12-18
12.2.4.2 设定 PDO 映射···············································································12-20
12.2.4.3 PDO 映像物件 ···············································································12-21
12.2.4.4 SDO 异常码 (Abort Code) ································································12-22
12.3 EtherCAT 操作模式 ·····················································································12-23
12.3.1 Profile Position Mode (位置规划模式)························································12-23
12.3.2 Profile Velocity Mode (速度规划模式) ························································12-28
12.3.3 Profile Torque Mode (扭矩规划模式) ·························································12-30
12.3.4 Homing Mode (原点复归模式) ·································································12-32
12.3.5 Cyclic Synchronous Position Mode (周期同步位置模式) ································12-34
12.3.6 Cyclic Synchronous Velocity Mode (周期同步速度模式) ································12-36
12.3.7 Cyclic Synchronous Torque Mode (周期同步扭矩模式)··································12-38
12.3.8 Touch Probe (位置抓取功能与位置抓取状态) ··············································12-40
12.4 Object Dictionary 对象字典 ···········································································12-45
12.4.1 对象详述 (Specifications for Objects)························································12-45
12.4.2 物件一览表··························································································12-46
12.4.3 对象详细数据·······················································································12-48
12.4.3.1 OD 1XXXh 通讯对象群组 ·································································12-48
12.4.3.2 OD 2XXXh 伺服参数群组 ·································································12-55
12.4.3.3 OD 6XXXh 通讯对象群组 ·································································12-56
12.5 疑难解答··································································································12-104
12.5.1 EtherCAT 诊断系统 12104
12.5.2 错误异警码12-105
PRFOINET 模式
13.1 基本配置·····································································································13-3
13.1.1 硬件相关配置·························································································13-3
13.1.2 GSD 档案汇入 ·······················································································13-4
13.1.3 安装驱动控制功能库 (DriveLib) ·································································13-4
13.1.4 伺服韧体版本·························································································13-4
13.1.5 PROFINET 模式的参数设定······································································13-5
13.2 通讯功能13-8
13
13.2.1 规格·····································································································13-8
13.2.2 RT / IRT 模式·························································································13-8
13.2.2.1 RT 模式 (Real-Time Mode)·································································13-8
13.2.2.2 IRT 模式 (Isochronous Real-Time Mode)···············································13-8
13.3 PROFINET 应用类别·····················································································13-9
13.3.1 AC1·····································································································13-9
13.3.2 AC3·····································································································13-9
13.3.3 AC4·····································································································13-9
13.4 支援的报文································································································13-10
13.4.1 过程数据 (PZD) 名词说明······································································13-12
13.4.2 控制字定义··························································································13-13
STW1 控制字 1 (用于报文 1) ··································································13-13
STW1 控制字 1 (用于报文 3、102、105) ··················································13-13
STW1 控制字 1 (用于报文 111) ·······························································13-14
STW2 控制字 2 ···················································································13-14
G1_STW 编码器 1 控制字 ·····································································13-15
POS_STW1 定位控制字 1 ·····································································13-15
POS_STW2 定位控制字 2 ·····································································13-15
13.4.3 状态字定义··························································································13-16
ZSW1 状态字 1 (用于报文 1、3、102、105) ·············································13-16
ZSW1 状态字 1 (用于报文 111) ·······························································13-17
ZSW2 状态字 2 ···················································································13-17
G1_ZSW 编码器 1 状态字 ·····································································13-18
13.5 PROFINET 报文操作说明·············································································13-19
13.5.1 报文 111 (位置规划模式)·········································································13-19
寸动功能 - 速度/位置模式······································································13-20
相对/绝对寻址 ·····················································································13-21
速度调整 ··························································································13-22
原点复归 ··························································································13-23
13.5.2 报文 1 (速度规划模式)············································································13-25
速度控制 ··························································································13-26
13.5.3 报文 3、102、105 (周期同步速度模式)······················································13-27
工艺对象设置 ······················································································13-28
运动命令规划 ······················································································13-29
13.5.4 辅助报文 750 (扭矩限制) ········································································13-30
13.5.5 伺服参数存取·······················································································13-32
13.6 SINA 功能块 (SINA Function Block) 与 PNU 参数 ·············································13-33
13.6.1 位置控制 (SINA_POS，FB284)·······························································13-33
13.6.2 速度控制 (SINA_SPEED，FB285)···························································13-36
13.6.3 非周期读写 (SINA_PARA_S，FB287) ······················································13-37
13.6.4 PNU 参数····························································································13-38
13.7 疑难解答···································································································13-57
异警排除
14.1 异警一览表··································································································14-3
通用类········································································································14-3
运动控制命令类····························································································14-5
STO 相关类·································································································14-6
通讯类········································································································14-6
14.2 异警原因与处置····························································································14-7
规格
A.1 ASDA-B3 伺服驱动器·······················································································A-3
A.1.1 驱动器标准规格 ························································································A-3
A.1.1.1 220V 机种 ·························································································A-3
A.1.1.2 400V 机种 ·························································································A-6
A.1.2 伺服驱动器外型尺寸 ··················································································A-9
A.1.2.1 220V 机种 ·························································································A-9
A.1.2.2 400V 机种 ························································································A-11
A.2 ECM-B3 系列伺服电机 ····················································································A-12
A.2.1 B3 电机电气规格······················································································A-12
A.2.1.1 220V 机种 ························································································A-12
F80 电机(含)以下 (低惯量 / 中惯量) ······················································A-12
F80 电机(含)以下 (高惯量)···································································A-14
F100 电机 (中惯量) ············································································A-16
F130 电机 (中惯量 / 高惯量) ·······························································A-18
F180 电机 (中惯量) A-20
A.2.1.2 400V 机种 A-22
F80 电机(含)以下 (中惯量)···································································A-22
F100 电机 (中惯量) ············································································A-24
F130 电机 (中惯量 / 高惯量) ·······························································A-26
F180 电机 (中惯量) ············································································A-28
A.2.2 B3 电机扭矩特性 (T-N 曲线)·······································································A-30
A.2.2.1 220V 机种 A-30
F80 电机(含)以下 ···············································································A-30
F100 电机 ························································································A-31
附录
如何排除问题
A
14
F130 电机 ························································································A-32
F180 电机 ························································································A-32
A.2.2.2 400V 机种 ························································································A-33
F80 电机(含)以下 ···············································································A-33
F100 电机 ························································································A-33
F130 电机 ························································································A-34
F180 电机 ························································································A-35
A.2.3 B3 电机额定值降低率················································································A-36
A.2.4 过负载之特性 ··························································································A-37
A.2.5 B3 伺服电机外型尺寸················································································A-39
A.2.5.1 220V 机种 ························································································A-39
F80 电机(含)以下 - 带线式 (低惯量 / 中惯量 / 高惯量) ····························A-39
F80 电机(含)以下 - 锁固式 (低惯量 / 中惯量 / 高惯量) ····························A-40
F100 电机 (中惯量) ············································································A-41
F130 电机 (中惯量 / 高惯量) ·······························································A-42
F180 电机 (中惯量) ············································································A-43
A.2.5.2 400V 机种 ························································································A-44
F80 电机(含)以下 - 带线式 (中惯量)······················································A-44
F100 电机 (中惯量) ············································································A-45
F130 电机 (中惯量 / 高惯量) ·······························································A-46
F180 电机 (中惯量) ············································································A-47
A.3 ECM-A3 系列伺服电机 ····················································································A-48
A.3.1 A3L 低惯量电机电气规格 ···········································································A-48
A.3.2 A3H 高惯量电机电气规格···········································································A-49
A.3.3 A3 电机扭矩特性 (T-N 曲线)·······································································A-50
A.3.4 过负载之特性 ··························································································A-52
A.3.5 A3L / A3H 伺服电机外型尺寸 ······································································A-53
配件
B.1 动力线接头 ····································································································B-2
B.2 动力线 ··········································································································B-4
B.2.1 F40 ~ F80 电机·························································································B-4
B.2.2 F100 ~ F130 电机 ·····················································································B-5
B.2.3 F180 4.5 kW(含)以下电机 ···········································································B-5
B.2.4 F180 5.5 kW(含)以上电机 B-6
B.2.5 F100 ~ F220 电机刹车线 B-6
B.3 动力转接线/对手件接头 (锁固式) ········································································B-7
B.3.1 F40 ~ F80 电机·························································································B-7
B.4 编码器接头 ····································································································B-8
B.5 编码器线 ·······································································································B-9
B
B.5.1 F40 ~ F80 电机·························································································B-9
B.5.2 F100 ~ F180 电机 ·····················································································B-9
B.6 编码器转接线/对手件接头(锁固式) ·····································································B-10
B.6.1 F40 ~ F80 电机························································································B-10
B.7 电池盒 ·········································································································B-11
B.8 CN1 配件 ·····································································································B-12
B.8.1 B3-L 机种·······························································································B-12
B.8.2 B3-M、B3-F、B3-E 机种 ···········································································B-13
B.9 CN3 配件 ·····································································································B-14
B.10 CN4 Mini USB 通讯线模组 ·············································································B-15
B.11 B3 / B2 转换线 ·····························································································B-15
B.12 铁氧体磁环 ·································································································B-16
B.13 F100 ~ F180 电机刹车与编码器接头 (线) 选用注意事项 ·······································B-16
(此页有意留为空白)
1-1
产品型号说明
使用本驱动器前，请注意此章节所列的开箱确认事项及铭牌与型号相关说明，用户可透
过 1.3 节的伺服驱动器与伺服电机对应参照表搜寻适合的电机。
0
1.1 开箱确认 ···························································································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
1.3 ASDA-B3 伺服驱动器与伺服电机对应参照表 ···········································1-11
1.3.1 220V 机种 ·················································································1-11
ECM-A3 系列伺服电机 ·································································1-11
ECM-B3 系列伺服电机 ·································································1-12
1.3.2 400V 机种 ·················································································1-13
ECM-B3 系列伺服电机 ·································································1-13
1.4 ASDA-B3 伺服驱动器各部名称·····························································1-14
1.4.1 -L 机种······················································································1-14
1.4.2 -M / -F 机种 ···············································································1-15
1.4.3 -E 机种 ·····················································································1-16
1.4.4 B3A-P 机种················································································1-17
1
产品型号说明ASDA-B3
1-2
1
1.1 开箱确认
开箱时，请确认是否包含以下项目且数量正确，若有缺漏，请咨询代理商。
机种
项目
B3-L B3-M / B3-E / B3-F B3A-L
B3A-M / B3A-E /
B3A-F / B3A-P
D-Sub 接头
(用于 CN1)
26-pin 0 1 0 1
44-pin 1 0 1 0
STO 接头 (用于 CN10) 0 0 1 1
说明书 1 1 1 1
ASDA-B3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-B3 系列伺服驱动器
◼ 铭牌说明
---
-.
-1.
V 0-.
.
:
:
:
---
-3/.
-1/1.
-0.
P
.
:
:
:
:
注：此范例仅示意认证图标摆放位置，认证完成后才会将图示印刷在铭牌上。
◼ 生产管制序号说明
1) ) ( () (
(
( (：；：)
()
( (
( (
产品型号说明ASDA-B3
1-4
1
ECM-A3 / ECM-B3 系列伺服电机
◼ 铭牌说明
..
r..
注：此范例仅示意认证图标摆放位置，认证完成后才会将图示印刷在铭牌上。
◼ 生产管制序号说明
1
1) ( ( ( 5)
)
) ：桃园厂；吴江厂)
) ：年
) 1
) ，)
注：电机规格中的额定电压 220V / 400V 指的是驱动器的输入电压，而电机本身的额定输入操作电压为安规认证电压，因
此 220V 系列电机的电源输入规格为 110V；400V 系列电机的电源输入规格为 220V。
ASDA-B3产品型号说明
1-5
1
1.2.2 型号说明
ASDA-B3 伺服驱动器
(1) 产品名称
ASD：AC Servo Drive
(2) 产品系列
B3：B3 系列
B3A：B3A 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
43：400V，三相
代号 规格 代号 规格 代号 规格
01 100 W 15 1.5 kW 55 5.5 kW
02 200 W 20 2 kW 75 7.5 kW
04 400 W 30 3 kW 80 8 kW
07 750 W 40 4 kW - -
10 1 kW 45 4.5 kW - -
产品型号说明ASDA-B3
1-6
1
(5) 机种代码
B3 系列
驱动器接口 功能 L M F E
CN1
DI / DO 数量 9 / 6 4 / 2 4 / 2 4 / 2
模拟量电压输入 / 输出 2 / 2 2 / 2 2 / 2 2 / 2
脉冲输入 (Pulse / Sign) ✓ - - -
脉冲输出 (OA / OB / OZ) ✓ ✓ ✓ ✓
OCZ 信号 ✓ - - -
Capture 高速 DI (PR) DI7 DI3 DI3 -
Touch Probe (EtherCAT) - - - DI1、DI2
CN1 脚位数量 44 26 26 26
CN3 通讯支持 RS-485 CANopen - -
CN4 通讯支持 (计算机通讯) Mini USB Mini USB Mini USB Mini USB
CN6 总线通讯 - - DMCNET EtherCAT
- STO 功能 - - - -
- 动态刹车(硬件)
*2
- - - -
- PR 模式 ✓ ✓ ✓ ✓
- 绝对型功能 ✓ ✓ ✓ ✓
B3A 系列
驱动器接口 功能 L M F E P
CN1
DI / DO 数量 9 / 6 4 / 2 4 / 2 4 / 2 6 / 3
模拟量电压输入 / 输出 2 / 2 2 / 2 2 / 2 2 / 2 -
脉冲输入 (Pulse / Sign) ✓ ✓ ✓ ✓ -
脉冲输出 (OA / OB / OZ) ✓ ✓ ✓ ✓ ✓
OCZ 信号 ✓ - - - -
高速 Capture DI (PR) DI7 DI3 DI3 - DI3
Touch Probe (EtherCAT) - - - DI1、DI2 -
CN1 脚位数量 44 26 26 26 26
CN3 通讯支持 RS-485 CANopen
RS-485 - - -
CN4 通讯支持 (计算机通讯) Mini USB Mini USB Mini USB Mini USB Mini USB
CN6 通讯支持 - - DMCNET EtherCAT PROFINET
CN10 STO 功能 ✓ ✓ ✓ ✓ ✓
- 动态刹车(硬件)
*2 ✓ ✓ ✓ ✓ ✓
- PR 模式 ✓ ✓ ✓ ✓ ✓
- 绝对型功能 ✓ ✓ ✓ ✓ ✓
注：
1. 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。
2. 驱动器完全断电的状态下，动态刹车会启动。
ASDA-B3产品型号说明
1-7
1
ECM-B3 系列伺服电机
) ( ) ()
(1) 产品名称
ECM：电子换相式电机
(2) 驱动型态
B：一般泛用型伺服电机
(3) 世代别
3：第三世代产品
(4) 惯量别
H：高惯量
M：中惯量
L：低惯量
(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
J：额定电压为 400V，转速为 3,000 rpm
K：额定电压为 400V，转速为 2,000 rpm
L：额定电压为 400V，转速为 1,500 rpm
(6) 编码器型式
A：24-bit 绝对型光学式编码器 (单圈分辨率：24-bit；圈数分辨率：16-bit)
2：24-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；圈数分辨率：16-bit)
M：17-bit 增量型磁性式编码器 (单圈绝对型)
注：圈数分辨率为编码器可记忆的最大圈数范围。
产品型号说明ASDA-B3
1-8
1
(7) 电机框架尺寸
(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
7：特殊轴径 (14 mm) 注 1，标准接头
J：标准轴径，乔合里接头 (IP67)
K：特殊轴径 (14 mm) 注 1，乔合里接头 (IP67)
3：标准轴径 (42 mm) 注 2，标准接头
B：标准轴径，锁固式接头
注：
1. 特殊轴径 (14 mm) 仅适用于 F80 400 W 机种。
2. 标准轴径 (42 mm) 仅适用于 F180 5.5 kW 与 7.5 kW 机种。
(11)特别码
1：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
04 40 mm 10 100 mm
06 60 mm 13 130 mm
08 80 mm 18 180 mm
代号 规格 代号 规格
01 100 W 15 1.5 kW
02 200 W 18 1.8 kW
04 400 W 20 2 kW
07 750 W 30 3 kW
08 850 W 45 4.5 kW
10 1 kW 55 5.5 kW
13 1.3 kW 75 7.5 kW
无刹车，有油封 有刹车，有油封
带键槽
带螺丝孔
R S
ASDA-B3产品型号说明
1-9
1
ECM-A3 系列伺服电机
) ( ) ()
(1) 产品名称
ECM：电子换相式电机
(2) 驱动型态
A：高精度泛用型伺服电机
(3) 世代别
3：第三世代产品
(4) 惯量别
H：高惯量
L：低惯量
(5) 额定电压及转速
C：额定电压为 220V，转速为 3,000 rpm
(6) 编码器型式
Y：24-bit 绝对型光学式编码器 (单圈分辨率：24-bit；圈数分辨率：16-bit)
1：24-bit 增量型光学式编码器 (单圈绝对型)
A：24-bit 绝对型光学式编码器 (单圈分辨率：24-bit；圈数分辨率：16-bit)
2：24-bit 增量型光学式编码器 (单圈绝对型)
注：圈数分辨率为编码器可记忆的最大圈数范围。
产品型号说明ASDA-B3
1-10
1
(7) 电机框架尺寸
(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
7：特殊轴径 (14 mm) 注，标准接头
J：标准轴径，乔合里接头 (IP67)
K：特殊轴径 (14 mm) 注，乔合里接头 (IP67)
注：特殊轴径适用于 F80 400 W 机种。
(11)特别码
1：标准品
Z：C0807S的特别码，详细请参阅 A.3.5 节之批注。
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
04 40 mm 08 80 mm
06 60 mm - -
代号 规格 代号 规格
0F 50 W 04 400 W
01 100 W 07 750 W
02 200 W - -
无刹车，有油封 有刹车，有油封
带键槽
带螺丝孔
R S
ASDA-B3产品型号说明
1-11
1
1.3 ASDA-B3 伺服驱动器与伺服电机对应参照表
1.3.1 220V 机种
ECM-A3 系列伺服电机
伺服电机 伺服驱动器
型号
额定 /
最大转速
(rpm)
电机
框号
(mm)
额定
功率
(W)
惯量
(x10-4kg·m2
)
无抱闸 / 有抱闸
额定 /
最大电流
(Arms)
额定 /
最大扭矩
(N·m)
型号
额定
功率
(W)
额定 /
最大电流
(Arms)
ECM-A3L-C040F 3000 / 6000 40 50 0.0229 / 0.0255 0.66 / 2.82 0.159 / 0.557 ASD-B3-0121- 100 0.9 / 3.88
ECM-A3L-C0401 3000 / 6000 40 100 0.04 / 0.0426 0.9 / 3.88 0.32 / 1.12 ASD-B3-0121- 100 0.9 / 3.88
ECM-A3L-C0602 3000 / 6000 60 200 0.09 / 0.12 1.45 / 6.2 0.64 / 2.24 ASD-B3-0221- 200 1.55 / 7.07
ECM-A3L-C0604 3000 / 6000 60 400 0.15 / 0.18 2.65 / 10.1 1.27 / 4.45 ASD-B3-0421- 400 2.65 /10.6
ECM-A3L-C0804 3000 / 6000 80 400 0.352 / 0.408 2.6 / 10.6 1.27 / 4.44 ASD-B3-0421- 400 2.65 /10.6
ECM-A3L-C0807 3000 / 6000 80 750 0.559 / 0.614 5.1 / 20.6
2.39 / 6.45 ASD-B3-0721- 750 5.1 / 14.14
2.39 / 8.36 ASD-B3-1021- 1k 7.3 / 21.21
ECM-A3H-C040F 3000 / 6000 40 50 0.0455 / 0.0517 0.64 / 2.59 0.159 / 0.557 ASD-B3-0121- 100 0.9 / 3.88
ECM-A3H-C0401 3000 / 6000 40 100 0.0754 / 0.0816 0.9 / 3.64 0.32 / 1.12 ASD-B3-0121- 100 0.9 / 3.88
ECM-A3H-C0602 3000 / 6000 60 200 0.25 / 0.28 1.45 / 5.3 0.64 / 2.24 ASD-B3-0221- 200 1.55 / 7.07
ECM-A3H-C0604 3000 / 6000 60 400 0.45 / 0.48 2.65 / 9.8 1.27 / 4.45 ASD-B3-0421- 400 2.65 / 10.6
ECM-A3H-C0804 3000 / 6000 80 400 0.92 / 1.07 2.6 / 9.32 1.27 / 4.44 ASD-B3-0421- 400 2.65 / 10.6
ECM-A3H-C0807 3000 / 6000 80 750 1.51 / 1.66 4.61 / 16.4
2.39 / 7.23 ASD-B3-0721- 750 5.1 / 14.14
2.39 / 8.36 ASD-B3-1021- 1k 7.3 / 21.21
产品型号说明ASDA-B3
1-12
1
ECM-B3 系列伺服电机
伺服电机 伺服驱动器
型号
额定 /
最大转速
(rpm)
电机
框号
(mm)
额定
功率
(W)
惯量
(x10-4kg·m2
)
无抱闸 / 有抱闸
额定 /
最大电流
(Arms)
额定 /
最大扭矩
(N·m)
型号
额定
功率
(W)
额定 /
最大电流
(Arms)
ECM-B3L-C0401 3000 / 6000 40 100 0.0299 / 0.0315 0.857 / 3.44 0.32 / 1.12 ASD-B3-0121- 100 0.9 / 3.88
ECM-B3M-C0602 3000 / 6000 60 200 0.141 / 0.151 1.42 / 6.62 0.64 / 2.24 ASD-B3-0221- 200 1.55 / 7.07
ECM-B3M-C0604 3000 / 6000 60 400 0.254 / 0.264 2.40 / 9.47 1.27 / 4.45 ASD-B3-0421- 400 2.65 /10.6
ECM-B3M-C0804 3000 / 6000 80 400 0.648 / 0.695 2.53 / 9.42 1.27 / 4.45 ASD-B3-0421- 400 2.65 /10.6
ECM-B3M-C0807 3000 / 6000 80 750 1.07 / 1.13 4.27 / 15.8
2.4 / 7.61 ASD-B3-0721- 750 5.1 / 14.14
2.4 / 8.4 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3M-C0810 3000 / 6000 80 1k 1.37 / 1.40 5.00 / 18.2 3.18 / 11.13 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3M-C1010 3000 / 6000 100 1k 2.78 / 3.06 6.05 / 18.4 3.18 / 9.54 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3M-C1015 3000 / 6000 100 1.5k 3.69 / 3.97 7.48 / 22.8 4.77 / 14.3 ASD-B3-1521- 1.5k 8.3 / 24.3
ECM-B3M-C1020 3000 / 6000 100 2k 4.68 / 4.95 9.96 / 30.7 6.37 / 19.1 ASD-B3-2023- 2k 13.4 / 38.3
ECM-B3M-E1310 2000 / 3000 130 1k 7.79 / 7.94 5.96 / 19.9 4.77 / 14.3 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3M-E1315 2000 / 3000 130 1.5k 11.22 / 11.37 8.17 / 26.82
7.16 / 19.34 ASD-B3-1521- 1.5k 8.3 / 23.7
7.16 / 21.48 ASD-B3-2023- 2k 13.4 / 38.3
ECM-B3M-E1320 2000 / 3000 130 2k 14.65 / 14.8 10.59 / 34.20 9.55 / 28.65 ASD-B3-2023- 2k 13.4 / 38.3
ECM-B3M-E1820 2000 / 3000 180 2k 29.11 / 30.38 11.43 / 36.21 9.55 / 28.65 ASD-B3-2023- 2k 13.4 / 38.3
ECM-B3M-F1830 1500 / 3000 180 3k 53.63 / 54.9 18.21 / 58.9
19.1 / 52.3 ASD-B3-3023- 3k 19.4 / 53.03
19.1 / 57.29 - - -
ECM-B3H-C0602 3000 / 6700 60 200 0.265 / 0.280 1.51 / 6.12 0.64 / 2.43 ASD-B3-0221- 200 1.55 / 7.07
ECM-B3H-C0604 3000 / 6700 60 400 0.523 / 0.538 2.21 / 8.46 1.27 / 4.83 ASD-B3-0421- 400 2.65 /10.6
ECM-B3H-C0807 3000 / 6700 80 750 1.55 / 1.62 4.19 / 16.3
2.4 / 7.86 ASD-B3-0721- 750 5.1 / 14.14
2.4 / 9.12 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3H-F1308 1500 / 4000 130 850 12.44 / 12.62 6.65 / 20.0 5.39 / 16.17 ASD-B3-1021- 1k 7.3 / 21.21
ECM-B3H-F1313 1500 / 4000 130 1.3k 18.00 / 18.14 7.70 / 23.9 8.34 / 25.02 ASD-B3-1521- 1.5k 8.3 / 24.3
ECM-B3H-F1318 1500 / 4000 130 1.8k 22.60 / 22.80 11.5 / 36.1 11.5 / 34.5 ASD-B3-2023- 2k 13.4 / 38.3
ASDA-B3产品型号说明
1-13
1
1.3.2 400V 机种
ECM-B3 系列伺服电机
伺服电机 伺服驱动器
型号
额定 /
最大转速
(rpm)
电机
框号
(mm)
额定
功率
(W)
惯量
(x10-4kg·m2
)
无抱闸 / 有抱闸
额定 /
最大电流
(Arms)
额定 /
最大扭矩
(N·m)
型号
额定
功率
(W)
额定 /
最大电流
(Arms)
ECM-B3M-J0807 3000 / 6000 80 750 1.07 /1.13 2.15 / 7.90
2.4 / 7.61 ASD-B3-1043- 1k 3.37 / 7.07
2.4 / 8.4 ASD-B3-1543- 1.5k 4.09 / 10.6
ECM-B3M-J1010 3000 / 6000 100 1k 2.78 / 3.06 3.03 / 9.21
3.18 / 7.4 ASD-B3-1043- 1k 3.37 / 7.07
3.18 / 9.54 ASD-B3-1543- 1.5k 4.09 / 10.6
ECM-B3M-J1015 3000 / 6000 100 1.5k 3.69 / 3.97 3.73 / 11.4
4.77 / 13.08 ASD-B3-1543- 1.5k 4.09 / 10.6
4.77 / 14.31 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3M-J1020 3000 / 6000 100 2k 4.68 / 4.95 5.00 / 15.3 6.37 / 19.11 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3M-K1310 2000 / 3000 130 1k 7.79 / 7.94 3.00 / 9.95
4.77 / 11.08 ASD-B3-1043- 1k 3.37 / 7.07
4.77 / 14.3 ASD-B3-1543- 1.5k 4.09 / 10.6
ECM-B3M-K1315 2000 / 3000 130 1.5k 11.22 / 11.37 4.09 / 13.37
7.16 / 17.78 ASD-B3-1543- 1.5k 4.09 / 10.6
7.16 / 21.48 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3M-K1320 2000 / 3000 130 2k 14.65 / 14.80 5.30 / 17.1 9.55 / 28.65 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3H-L1308 1500 / 4000 130 850 12.44 / 12.62 3.35 / 10.0
5.39 / 11.55 ASD-B3-1043- 1k 3.37 / 7.07
5.39 / 16.17 ASD-B3-1543- 1.5k 4.09 / 10.6
ECM-B3H-L1313 1500 / 4000 130 1.3k 18.00 / 18.14 3.85 / 12.0
8.34 / 22.14 ASD-B3-1543- 1.5k 4.09 / 10.6
8.34 / 25.02 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3H-L1318 1500 / 4000 130 1.8k 22.60 / 22.80 5.75 / 18.1 11.5 / 34.5 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3M-K1820 2000 / 3000 180 2k 29.11 / 30.38 5.7 / 18.1 9.55 / 28.65 ASD-B3-2043- 2k 5.96 / 18.98
ECM-B3M-L1830 1500 / 3000 180 3k 53.63 / 54.9 9.1 / 29.45
19.1 / 53.9 ASD-B3-3043- 3k 9.11 / 27.33
19.1 / 53.9 ASD-B3-4043- 4k 11 / 27.33
19.1 / 57.29 ASD-B3-4543- 4.5k 13.30 / 35.35
ECM-B3M-L1845 1500 / 4000 180 4.5k 67.73 / 69.15 13.3 / 35.35 28.62 / 71.6 ASD-B3-4543- 4.5k 13.30 / 35.35
ECM-B3M-L1855 1500 / 4000 180 5.5k 98.88 / 100.1 15.3 / 49.29 35.01 / 105 ASD-B3-5543- 5.5k 15.34 / 49.29
ECM-B3M-L1875 1500 / 4000 180 7.5k 134.95 / 136.24 22.1 / 56.68
47.75 / 110.9 ASD-B3-7543- 7.5k 22.11 / 53.03
47.75 / 110.9 ASD-B3-8043- 8k 22.5 / 53.03
47.75 / 119 - - -
产品型号说明ASDA-B3
1-14
1
1.4 ASDA-B3 伺服驱动器各部名称
1.4.1 -L 机种
V
)
编号 名称 说明
(1) - 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST
主回路电源；220V 机种连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种连接于商用电源 (380 ~ 400 VAC，50/60 Hz 电源)。
(4) L1C、L2C
控制回路电源；220V 机种供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种供给单相电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(5) 回生电阻 使用内建回生电阻、外接回生电阻或外部回生单元。
(6) 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。
(7) 接地螺丝 连接至电源地线及电机地线。
(8) CN4 Mini USB 连接口，连接至个人计算机。
(9) CN3 Modbus 通讯端口。
(10) CN1 I/O 信号连接器，连接至可程控器 (PLC) 或控制 I/O。
(11) CN10 STO 端子，仅 B3A 系列支持此功能。
(12) CN2 编码器连接口，连接至伺服电机上的编码器。
ASDA-B3产品型号说明
1-15
1
1.4.2 -M / -F 机种
V
编号 名称 说明
(1) - 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST
主回路电源；220V 机种连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种连接于商用电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(4) L1C、L2C
控制回路电源；220V 机种供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种供给单相电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(5) 回生电阻 使用内建回生电阻、连接外接回生电阻或外部回生单元。
(6) UVW
伺服驱动器电流输出；连接至电机动力线 (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。
(7) 接地螺丝 连接至电源地线及电机地线。
(8) CN4 Mini USB 连接口，连接至个人计算机。
(9) CN3 / CN6 CANopen (CN3) 高速通讯端口或 DMCNET (CN6) 高速通讯端口。
(10) CN1 I/O 信号连接器，连接至可程控器 (PLC) 或控制 I/O。
(11) CN10 STO 接口，仅 B3A 系列支持此功能。
(12) CN2 编码器连接口，连接至伺服电机上的编码器接头。
产品型号说明ASDA-B3
1-16
1
1.4.3 -E 机种
V
(9)
1
编号 名称 说明
(1) - 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST
主回路电源；220V 机种连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种连接于商用电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(4) L1C、L2C
控制回路电源；220V 机种供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种供给单相电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(5) 回生电阻 使用内建回生电阻、连接外接回生电阻或外部回生单元。
(6) UVW
伺服驱动器电流输出；连接至电机动力线 (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。
(7) 接地螺丝 连接至电源地线及电机地线。
(8) CN4 Mini USB 连接口，连接至个人计算机。
(9) CN6 EtherCAT 高速通讯端口。
(10) CN1 I/O 信号连接器，连接至可程控器 (PLC) 或控制 I/O。
(11) CN10 STO 端子，仅 B3A 系列支持此功能。
(12) CN2 编码器连接口，连接至伺服电机上的编码器。
ASDA-B3产品型号说明
1-17
1
1.4.4 B3A-P 机种
V
编号 名称 说明
(1) - 七段显示器。
(2) CHARGE 电源指示灯。
(3) RST
主回路电源；220V 机种连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种连接于商用电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(4) L1C、L2C
控制回路电源；220V 机种供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)；
400V 机种供给单相电源 (380 ~ 400 VAC，50/60 Hz 电源) 。
(5) 回生电阻 使用内建回生电阻、连接外接回生电阻或外部回生单元。
(6) UVW
伺服驱动器电流输出；连接至电机动力线 (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。
(7) 接地螺丝 连接至电源地线及电机地线。
(8) CN4 Mini USB 连接口，连接至个人计算机。
(9) CN6 PROFINET 高速通讯端口。
(10) CN1 I/O 信号连接器，连接至可程控器 (PLC) 或控制 I/O。
(11) CN10 STO 端子，仅 B3A 系列支持此功能。
(12) 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-B3
1-18
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。本章节也说明了断路器、电磁接触器与保险丝建议规格，及电磁干扰滤波器和回生
电阻的选择方法。
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······················································2-7
2.4.2 电机安装方向注意事项··································································2-8
2.4.3 使用油封电机的注意事项·······························································2-9
2.4.4 电机安装对手件的注意事项··························································2-10
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 铁氧体磁环·····················································································2-16
2.7 EMC 安装条件 ················································································2-17
2.7.1 电磁干扰滤波器 (EMI Filter) ························································2-18
2.8 回生电阻的选择方法·········································································2-20
2.9 电磁抱闸的使用2-26
2.10 线材的使用 2-28
2
安装 ASDA-B3
2-2
2
2.1 储存环境条件
本产品在安装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 B3 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、
易燃性之气、液体、无漂浮性的尘埃及金属微粒、坚固无振动、无电磁噪声干扰之场所。
本产品电机使用条件：ECM-A3 与 ECMC 电机使用环境温度为 0°C ~ 40°C。
ECM-B3 电机使用环境温度为 -20°C ~ +60°C*。无发高热装置、无水滴、蒸气、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 ECM-B3 电机使用环境温度超过 40°C，请参阅 A.2.3 节 B3 电机额定值降低率。
(
50 mm
( (2 inch)
◼ 本驱动器使用环境温度为 0°C ~ 55°C。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。
◼ 使用 220V 机种时，若环境温度超过 45°C 以上，请置于通风良好之场所。
◼ 使用 400V 机种时，若环境温度超过 45°C 以上，其平均负载率请勿超过 80%，并置于通风
良好之场所。
◼ 本产品需以垂直方向安装在配电箱里 (如 2.3 节的正确方向图)。
◼ 配电箱上方安装风扇，使运转产生的热风顺利从箱内排出，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。
◼ 注意机器的震动是否会影响配电箱的电子装置。请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。
◼ 使用 400V 机种时，其上方 10 mm 处 (侦测点) 的空气流速须达 0.5 m/s 以上。
ASDA-B3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，使散热片 Base 垂直于墙面，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
f
f
错误的方向
f f
安装 ASDA-B3
2-4
2
预留散热空间
◼ 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温度
增加。
单台安装 多台驱动器安装
.
2
(
.
25
(
Airflow
f
f
2
(
( 1
注：安装图标的间隔距离与文字批注非等比例尺寸，请以文字批注为准。
ASDA-B3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，以预防电磁噪声干扰、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。
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噪声 (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。
安装 ASDA-B3
2-6
2
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。
◼ 内建抱闸仅用于保持电机抱闸状态，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，不得将内建抱闸作为动态抱闸使用。
◼ 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。
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，否则产品保固将视为失效。
◼ 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。
ASDA-B3安装
2-7
2
2.4.1 电机动作、状态的故障分析排除
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)。
