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达ASDA-A3 系列伺服系统应用技术手冊

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序言

感谢您使用本产品，本使用手册提供 ASDA-A3 系列伺服驱动器(简称 A3)及其搭配的伺服电机相关

信息。

本手册内容

 伺服驱动器和伺服电机的安装与检查

 伺服架构及相关配线图

 试运转操作的步骤

 伺服调机教学

 参数说明

 通讯协议说明

 异警排除

 检测与保养

ASDA-A3 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。

安全注意事项

ASDA-A3 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。本产品

利用精密的回授控制及结合高速运算能力的数字信号处理器(Digital Signal Processor, DSP)，来控制

IGBT 产生精确之电流输出，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 UL 50 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」代表之涵义：

STOP 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。

WARNING

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 A3 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。

iii

操作注意

WARNING

 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

STOP

 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、修理及保养伺服驱动器以及伺服电机。

STOP 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，使伺服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。

 在运转时，请勿触摸伺服驱动器之散热片，否则可能造成烫伤。

主电路配线

WARNING

 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 米(9.84 英呎)，编码器线最长为 20 米(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，请将插拔式快速接头从伺服驱动器上拆下来。

 每个电线插入口，请仅插入一根电线。

 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。

漏电电流

WARNING

 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

WARNING

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。

STOP 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。

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。

确认输入、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。

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

零件更换的时间会依据

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

伺服电机轴承 20,000 小时

油封 5,000 小时

STOP

 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。

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-A3 伺服驱动器与电机对应参照表 ······························································ 1-13

1.3.1 220V 机种······························································································· 1-13

1.3.2 400V 机种······························································································· 1-16

1.4 ASDA-A3 伺服驱动器各部名称 ·········································································· 1-17

1.4.1 220V 机种：A3-L ····················································································· 1-17

1.4.2 220V 机种：A3-M ···················································································· 1-18

1.4.3 220V 机种：A3-F ····················································································· 1-19

1.4.4 220V 机种：A3-E····················································································· 1-20

1.4.5 400V 机种：A3-L ····················································································· 1-21

1.4.6 400V 机种：A3-M ···················································································· 1-22

1.4.7 400V 机种：A3-F ····················································································· 1-23

1.4.8 400V 机种：A3-E 1-24

安装

2.1 储存环境条件 ··································································································2-2

2.2 安装环境条件 ··································································································2-3

2.3 驱动器安装方向与空间·······················································································2-5

2.4 电机安全预防措施 2-8

2.4.1 电机动作、状态的故障分析排除表································································ 2-10

2.4.2 电机安装方向注意事项 ·············································································· 2-11

2.4.3 使用油封电机的注意事项 ··········································································· 2-12

2.4.4 电机安装对手件的注意事项 ········································································ 2-13

2.4.5 电机油水对策注意事项 ·············································································· 2-15

2.4.6 抑制伺服电机温升的措施 216

2.5 断路器、电磁接触器与保险丝建议规格表 217

2.6 铁氧体磁环 ··································································································· 2-19

2.7 EMC 安装条件 ······························································································· 2-21

2.7.1 电磁干扰滤波器 (EMI Filters)······································································ 2-23

2.8 回生电阻的选择方法 ······················································································· 2-25

2.9 电磁抱闸的使用 ····························································································· 2-31

2.10 线材的使用·································································································· 2-33

配线

3.1 220V 机种台达系统配线 ···················································································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 ················································································3-6

3.1.3 电源接线法 ·······························································································3-8

3.1.4 动力接头规格 ·························································································· 3-11

3.1.4.1 F40 ~ F80 动力接头············································································ 3-12

3.1.4.2 F100 ~ F130 动力接头········································································· 3-14

3.1.4.3 F180 4.5 kW (含)以下动力接头······························································ 3-15

3.1.4.4 F180 5.5 kW (含)以上 & F220 动力接头·················································· 3-16

3.1.4.5 F100 ~ F220 抱闸接头········································································· 3-17

3.1.5 编码器接头规格 ······················································································· 3-18

3.1.5.1 F40 ~ F80 编码器接头········································································· 3-18

标准接头·························································································· 3-18

乔合里接头······················································································· 3-19

锁固式接头······················································································· 3-20

3.1.5.2 F100 ~ F180 ECMC 编码器接头 ···························································· 3-21

3.1.5.3 F100 ~ F220 ECM-B3 编码器接头·························································· 3-22

3.1.6 线材的选择 ····························································································· 3-23

3.1.6.1 线材规格与端子 3-23

3.1.6.2 圆棒端子配线说明 ·············································································· 3-25

3.1.6.3 端子台规格 / 螺丝规格与锁附扭力规格··················································· 3-27

3.1.6.4 编码器线材规格 ················································································· 3-28

3.1.6.5 动力线材规格 ···················································································· 3-29

F40 ~ F80 电机 ····································································································· 3-29

F100 ~ F130 电机·································································································· 3-31

F180 4.5 kW (含)以下电机 3-32

F180 5.5 kW (含)以上 & F220 电机 3-33

3.1.6.6 耐挠曲线材规格 ················································································· 3-34

3.1.7 防水接头安装说明 ···················································································· 3-35

3.1.7.1 F40 ~ F80 机种 (动力 / 编码器 / 抱闸)·················································· 3-35

乔合里接头······················································································· 3-35

锁固式接头······················································································· 3-36

3.1.7.2 F100 ~ F180 机种 (4.5 kW 以下) 动力接头 3-38

3.1.7.3 F100 ~ F180 机种编码器 / 抱闸接头······················································ 3-39

3.1.7.4 防水接头规格 ···················································································· 3-40

3.2 400V 机种台达系统配线 ················································································· 3-42

3.2.1 外围装置接线图 (连接台达伺服通讯型电机) ··················································· 3-42

3.2.2 驱动器的连接器与端子 ·············································································· 3-44

3.2.3 电源接线法 ····························································································· 3-46

3.2.4 动力接头规格 ·························································································· 3-47

3.2.5 编码器接头规格 ······················································································· 3-47

3.2.6 线材的选择 ····························································································· 3-48

3.2.6.1 线材规格与端子 ················································································· 3-48

3.2.6.2 端子台规格 / 螺丝规格与锁附扭力规格··················································· 3-49

3.2.6.3 线材规格 ·························································································· 3-50

3.2.6.4 防水接头规格 ···················································································· 3-50

3.3 伺服系统基本方块图 ······················································································· 3-51

3.3.1 220V 机种······························································································· 3-51

400 W (含)以下机种·················································································· 3-51

750 W ~ 3 kW 机种 ·················································································· 3-52

4.5 kW ~ 15 kW 机种 ················································································ 3-53

3.3.2 400V 机种······························································································· 3-54

400 W ~ 1.5 kW 机种················································································ 3-54

2 kW ~ 15 kW 机种 ·················································································· 3-55

3.4 CN1 I/O 信号接线··························································································· 3-56

3.4.1 A3-L、A3-M 机种 CN1 I/O 信号接线 ····························································· 3-56

3.4.1.1 A3-L、A3-M 机种 CN1 I/O 连接器端子···················································· 3-56

3.4.1.2 A3-L、A3-M 机种的便利接头 ································································ 3-63

3.4.1.3 A3-L、A3-M 机种 CN1 接口接线图························································· 3-68

3.4.2 A3-E、A3-F 机种 CN1 I/O 信号接线 ····························································· 3-74

3.4.2.1 A3-E、A3-F 机种 CN1 I/O 连接器端子 ···················································· 3-74

3.4.2.2 A3-E、A3-F 机种的便利接头································································· 3-80

3.4.2.3 A3-E、A3-F 机种 CN1 接口接线图 ························································· 3-84

3.5 CN2 编码器信号接线······················································································· 3-87

3.5.1 F40 ~ F80 电机编码器线 3-88

3.5.2 F100 ~ F180 电机编码器线········································································· 3-89

3.5.3 CN2 接头屏蔽施工说明·············································································· 3-90

3.6 CN3 RS-485 及高速网络通讯端口信号接线 ·························································· 3-91

3.7 CN4 串行通讯端口 (Mini USB)·········································································· 3-93

3.8 CN5 机械位置反馈信号接头 (可应用全闭回路) ····················································· 3-94

3.9 CN6 通讯端口信号接线···················································································· 3-96

3.9.1 DMCNET 通讯端口信号接线 3-96

3.9.2 EtherCAT 通讯端口信号接线 3-98

3.10 CN10 STO 功能 (Safe Torque Off) ································································· 3-101

3.10.1 STO 介绍···························································································· 3-101

3.10.2 使用上的注意事项················································································· 3-101

3.10.3 潜在风险····························································································· 3-102

3.10.4 安全参数····························································································· 3-103

3.10.5 STO 动作···························································································· 3-104

3.10.5.1 反应时间······················································································· 3-104

3.10.5.2 异警触发······················································································· 3-105

3.10.5.3 解除 STO 状态的方法 ······································································ 3-107

3.10.6 STO 配线···························································································· 3-112

3.10.6.1 CN10 STO 端子 ············································································· 3-112

3.10.6.2 输入输出信号规格··········································································· 3-113

3.10.6.3 不使用 STO 功能 ············································································ 3-114

3.10.6.4 单轴使用 STO 功能 ········································································· 3-114

3.10.6.5 多轴使用 STO 功能 ········································································· 3-115

3.10.7 验证测试····························································································· 3-116

3.11 220V 机种标准接线方式·············································································· 3-117

3.11.1 位置(PT)模式标准接线 - 差分脉冲信号 ····················································· 3-117

3.11.2 位置(PT)模式标准接线 - 开集极脉冲信号 ·················································· 3-118

3.11.3 位置(PR)模式标准接线 - 内部位置命令 ····················································· 3-119

3.11.4 速度(S)模式标准接线 ············································································· 3-121

3.11.5 扭矩(T)模式标准接线 ············································································· 3-123

3.11.6 通讯(CANopen)模式标准接线 ·································································· 3-125

3.11.7 通讯(DMCNET)模式标准接线 ·································································· 3-126

3.11.8 通讯(EtherCAT)模式标准接线 ·································································· 3-127

3.12 400V 机种标准接线方式·············································································· 3-128

3.12.1 位置(PT)模式标准接线 - 差分脉冲信号 ····················································· 3-128

3.12.2 位置(PT)模式标准接线 - 开集极脉冲信号 ·················································· 3-129

3.12.3 位置(PR)模式标准接线 - 内部位置命令····················································· 3-130

3.12.4 速度(S)模式标准接线············································································· 3-132

3.12.5 扭矩(T)模式标准接线············································································· 3-134

3.12.6 通讯(CANopen)模式标准接线·································································· 3-136

3.12.7 通讯(DMCNET)模式标准接线 ·································································· 3-137

3.12.8 通讯(EtherCAT)模式标准接线 3138

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 警示讯息显示 ····························································································4-7

4.3.4 正负号设定显示 ·························································································4-7

4.3.5 监控显示 ··································································································4-7

4.4 一般功能操作 ································································································ 4-10

4.4.1 异常状态记录显示操作 ·············································································· 4-10

4.4.2 强制数字输出操作 ···················································································· 4-11

4.4.3 数字输入诊断操作 ···················································································· 4-12

4.4.4 数字输出诊断操作 ···················································································· 4-12

4.5 试运转 ········································································································· 4-13

4.5.1 无负载检测 ····························································································· 4-13

4.5.2 驱动器送电 ····························································································· 4-14

4.5.3 空载寸动测试 ·························································································· 4-18

4.5.4 空载速度测试 ·························································································· 4-20

4.5.5 空载的定位测试 ······················································································· 4-22

如何调机

调机

5.1 调机流程 ········································································································5-4

5.2 惯量(重量)估测 ································································································5-5

5.2.1 惯量(重量)估测注意事项 ··············································································5-5

5.2.1.1 旋转电机 ····························································································5-5

5.2.1.2 直线电机 ····························································································5-6

5.2.2 惯量(重量)估测 - 操作 ASDA-Soft 软件···························································5-7

5.2.2.1 旋转电机 5-9

5.2.2.2 直线电机 ·························································································· 5-10

5.3 一键调机 ······································································································ 5-11

5.3.1 一键调机注意事项 ···················································································· 5-12

5.3.1.1 旋转电机 ·························································································· 5-12

5.3.1.2 直线电机 ·························································································· 5-12

5.3.2 一键调机 - 操作 ASDA-Soft 软件 5-13

5.4 自动调机 516

5.4.1 自动调机注意事项 ···················································································· 5-17

5.4.1.1 旋转电机 ·························································································· 5-17

5.4.1.2 直线电机 ·························································································· 5-18

5.4.2 自动调机流程图 ······················································································· 5-19

5.4.3 自动调机 - 操作面板 ················································································ 5-20

5.4.3.1 旋转电机 ·························································································· 5-20

5.4.3.2 直线电机 ·························································································· 5-21

5.4.4 自动调机 - 操作 ASDA-Soft 软件································································· 5-22

5.4.5 自动调机相关参数 ···················································································· 5-29

5.4.5.1 自动增益调整准位 1 (P2.105) - 调整刚性 ·················································· 5-29

5.4.5.2 自动增益调整准位 2 (P2.106) - 调整响应 ·················································· 5-30

5.4.6 自动调机相关异警 ···················································································· 5-31

5.5 增益调整模式 ································································································ 5-32

5.5.1 增益调整模式差异表 ················································································· 5-32

5.5.2 增益调整模式流程 ···················································································· 5-34

5.5.3 增益调整模式 1 ························································································ 5-35

5.5.4 增益调整模式 2 ························································································ 5-35

5.5.5 增益调整模式 3 ························································································ 5-36

5.5.6 增益调整模式 4 ························································································ 5-37

5.5.7 增益调整模式 5 ························································································ 5-38

5.5.8 增益调整模式 6 ························································································ 5-38

5.5.9 增益调整模式相关参数 ·············································································· 5-39

5.5.9.1 带宽响应层级(P2.031) - 调整刚性·························································· 5-39

5.5.9.2 命令响应增益(P2.089) - 调整响应·························································· 5-40

5.5.9.3 速度回路响应带宽设定(P2.126) - 调整带宽·············································· 5-40

5.6 手动调整增益参数 ·························································································· 5-41

5.6.1 手动调整增益流程 - 速度模式····································································· 5-43

5.6.2 手动调整增益流程 - 位置模式····································································· 5-44

5.6.3 手动调整增益 - 操作 ASDA-Soft 软件··························································· 5-45

5.7 机械共振与异音的处理····················································································· 5-46

5.7.1 共振抑制 Notch filter ················································································· 5-47

5.7.1.1 功能限制 ·························································································· 5-47

5.7.1.2 功能说明 5-47

5.7.1.3 参数介绍 ·························································································· 5-48

5.7.1.4 应用范例 ·························································································· 5-49

5.7.2 共振抑制低通滤波器 ················································································· 5-52

5.7.2.1 功能限制 ·························································································· 5-52

5.7.2.2 功能说明 ·························································································· 5-52

5.7.2.3 应用范例 ·························································································· 5-52

5.7.3 速度检测滤波器 5-53

5.7.3.1 功能限制 5-53

5.7.3.2 功能说明 ·························································································· 5-53

5.7.3.3 应用范例 ·························································································· 5-54

5.7.4 低频抑振滤波器 ······················································································· 5-55

5.7.4.1 功能限制 ·························································································· 5-55

5.7.4.2 功能说明 ·························································································· 5-55

5.7.4.3 应用范例 ·························································································· 5-57

5.7.5 模型控制抑振滤波器 ················································································· 5-58

5.7.5.1 双自由度模式功能限制 ········································································ 5-58

5.7.5.2 双自由度模式功能说明 ········································································ 5-59

5.7.5.3 双自由度模式应用范例 ········································································ 5-60

5.7.5.4 挠性补偿功能限制 ·············································································· 5-61

5.7.5.5 挠性补偿功能说明 ·············································································· 5-61

5.7.5.6 挠性补偿应用范例 ·············································································· 5-62

5.7.6 位置命令滤波器 ······················································································· 5-63

5.7.6.1 功能限制 ·························································································· 5-63

5.7.6.2 功能说明 ·························································································· 5-63

5.7.6.3 应用范例 ·························································································· 5-64

5.7.7 速度命令滤波器 ······················································································· 5-65

5.7.7.1 功能限制 ·························································································· 5-65

5.7.7.2 功能说明 ·························································································· 5-65

5.7.7.3 应用范例 ·························································································· 5-65

5.7.8 扭矩命令滤波器 ······················································································· 5-66

5.7.8.1 功能限制 ·························································································· 5-66

5.7.8.2 功能说明 ·························································································· 5-66

5.7.8.3 应用范例 ·························································································· 5-66

5.8 应用功能调整 ································································································ 5-67

5.8.1 等速段位置误差调整 ················································································· 5-67

5.8.1.1 功能限制 ·························································································· 5-67

5.8.1.2 功能说明 ·························································································· 5-67

5.8.1.3 应用范例 ·························································································· 5-68

5.8.2 位置过冲调整 ·························································································· 5-69

5.8.2.1 功能限制 ·························································································· 5-69

5.8.2.2 功能说明 ·························································································· 5-69

5.8.2.3 应用范例 5-69

5.8.3 多轴轨迹控制 ·························································································· 5-70

5.8.3.1 功能限制 ·························································································· 5-70

5.8.3.2 功能说明 ·························································································· 5-70

5.8.3.3 应用范例 ·························································································· 5-72

5.8.4 增益切换 ································································································ 5-74

5.8.4.1 功能限制 ·························································································· 5-74

5.8.4.2 功能说明 574

5.8.4.3 应用范例 574

控制机能

6.1 控制模式选择 ··································································································6-3

6.2 位置模式 ········································································································6-5

6.2.1 PT 模式位置命令························································································6-5

6.2.2 PR 模式位置命令 ·······················································································6-6

6.2.3 位置模式控制架构 ······················································································6-7

6.2.4 位置 S 形平滑器·························································································6-8

6.2.5 电子齿轮比 ·······························································································6-9

6.2.6 低通滤波器 ····························································································· 6-10

6.2.7 位置模式(PR)时序图 ················································································· 6-10

6.2.8 位置回路增益调整 ···················································································· 6-11

6.2.9 位置模式低频抑振 ···················································································· 6-12

6.3 速度模式 ······································································································ 6-13

6.3.1 速度命令的选择 ······················································································· 6-13

6.3.2 速度模式控制架构 ···················································································· 6-14

6.3.3 速度命令的平滑处理 ················································································· 6-15

6.3.4 模拟量速度命令比例器 ·············································································· 6-17

6.3.5 速度模式时序图 ······················································································· 6-18

6.3.6 速度回路增益调整 ···················································································· 6-19

6.3.7 共振抑制单元 ·························································································· 6-21

6.4 扭矩模式 ······································································································ 6-23

6.4.1 扭矩命令的选择 ······················································································· 6-23

6.4.2 扭矩模式控制架构 ···················································································· 6-24

6.4.3 扭矩命令的平滑处理 ················································································· 6-24

6.4.4 模拟量扭矩命令比例器 ·············································································· 6-25

6.4.5 扭矩模式时序图 ······················································································· 6-26

6.5 混合模式 ······································································································ 6-27

6.5.1 速度/位置混合模式 6-28

6.5.2 速度/扭矩混合模式 6-29

6.5.3 扭矩/位置混合模式···················································································· 6-30

6.6 其他 ··········································································································· 6-31

6.6.1 速度限制的使用 ······················································································· 6-31

6.6.2 扭矩限制的使用 ······················································································· 6-31

6.6.3 模拟量监控 ····························································································· 6-32

6.7 全闭环 6-33

6.7.1 硬件配置 6-34

6.7.2 控制架构 6-35

如何操作与设定

6.7.3 全闭环设定步骤 ······················································································· 6-37

6.7.4 全闭环参数设定 ······················································································· 6-38

6.7.4.1 辅助编码器方向设定 ··········································································· 6-38

6.7.4.2 辅助编码器分辨率设定 ········································································ 6-41

6.7.4.3 电子齿轮设定 ···················································································· 6-43

6.7.4.4 主编码器与辅助编码器的回授位置误差保护范围设定·································· 6-44

6.7.4.5 全/半闭环位置检测器误差的低通滤波器设定············································· 6-45

6.7.4.6 全/半闭环切换时误差清除功能设定························································· 6-46

6.7.4.7 自动清除主编码器与辅助编码器之间的回授位置误差量······························· 6-48

6.7.4.8 设定全/半闭环切换 DI [0x0B]································································· 6-49

6.7.4.9 原点复归 Z 相来源 ·············································································· 6-50

6.7.4.10 检出器输出设定················································································ 6-51

6.7.4.11 上位机全闭环回授来源设定 ································································· 6-53

6.7.5 全闭环异警排除 ······················································································· 6-54

运动控制功能说明

7.1 PR 模式说明 ···································································································7-3

7.1.1 PR 共享参数资料 ·······················································································7-5

7.1.2 PR 模式相关监控变量··················································································7-7

7.1.3 运动控制命令模式 ···················································································· 7-10

7.1.3.1 原点复归模式 ···················································································· 7-10

7.1.3.2 速度命令 ·························································································· 7-22

7.1.3.3 位置命令 ·························································································· 7-24

7.1.3.4 程序跳转命令 ···················································································· 7-27

7.1.3.5 写入命令 ·························································································· 7-29

7.1.3.6 分度位置命令 ···················································································· 7-31

7.1.3.7 基础数值运算 ···················································································· 7-35

7.1.4 PR 程序表示方法 ····················································································· 7-38

7.1.5 PR 命令触发方式 7-45

7.1.6 PR 程序执行流程 ····················································································· 7-49

7.2 运动控制应用功能 ·························································································· 7-62

7.2.1 资料阵列 ································································································ 7-62

7.2.2 高速位置抓取(Capture)·············································································· 7-65

7.2.3 高速位置比较(Compare) ············································································ 7-69

7.3 电子凸轮(E-Cam) 7-73

7.3.1 主动轴信号来源 775

7.3.2 离合器的啮合与脱离 ················································································· 7-78

7.3.3 电子凸轮齿轮比与曲线缩放 ········································································ 7-84

7.3.4 电子凸轮曲线 ·························································································· 7-87

7.3.5 电子凸轮与 PR 命令的叠加········································································· 7-94

7.3.6 电子凸轮异常排除 ························································································ 7-96

7.3.7 飞剪系统(Rotary Shear) ················································································ 7-97

7.3.8 追剪系统(Flying Shear) ··············································································· 7-121

7.3.9 应用宏(Macro)··························································································· 7-131

7.3.10 辅助功能 ································································································ 7-140

7.3.11 枕式包装机应用范例·················································································· 7-142

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························································································· 8-19

P2.XXX 扩充参数························································································· 8-70

P3.XXX 通讯参数······················································································· 8-118

P4.XXX 诊断参数······················································································· 8-128

P5.XXX Motion 设定参数 ············································································· 8-138

P6.XXX PR 路径定义参数 ············································································ 8-183

P7.XXX PR 路径定义参数 ············································································ 8-207

PM.XXX 电机参数 ······················································································ 8-227

表 8.1 数字输入(DI)功能定义表······································································ 8-245

表 8.2 数字输出(DO)功能定义表 ···································································· 8-253

表 8.3 监控变量说明···················································································· 8-259

Modbus 通讯

9.1 RS-485 通讯硬件接口························································································9-2

9.2 RS-485 通讯参数设定························································································9-3

9.3 Modbus 通讯协议 ·····························································································9-4

9.4 通讯参数的写入与读出····················································································· 9-14

9.5 RS-485 通讯规格···························································································· 9-15

绝对型伺服系统

10.1 电池盒及绝对型线材······················································································ 10-3

10.1.1 电池规格······························································································· 10-3

10.1.2 电池盒规格···························································································· 10-5

10.1.3 绝对型编码器连接线················································································ 10-6

10.1.4 电池盒连接线························································································· 10-7

10.2 安装··········································································································· 10-8

10.2.1 安装电池盒于伺服系统 10-8

10.2.2 如何安装及更换电池·············································································· 10-10

10.3 系统初始化与操作流程················································································· 10-13

10.3.1 系统初始化·························································································· 10-13

10.3.2 脉冲数值····························································································· 10-14

参数设定

10.3.3 PUU 数值···························································································· 10-15

10.3.4 绝对型原点坐标建立·············································································· 10-16

10.3.4.1 使用 DI/DO 方式············································································· 10-16

10.3.4.2 使用参数设定················································································· 10-17

10.3.4.3 使用 PR 原点复归功能 ····································································· 10-17

10.3.5 读取绝对位置······················································································· 10-18

10.3.5.1 使用 DI/DO 方式············································································· 10-18

10.3.5.2 使用通讯功能················································································· 10-21

10.4 绝对型功能的相关参数、DI/DO 及异警一览表 ··················································· 10-22

直线电机与第三方电机

11.1 直线电机简介 ······························································································· 11-2

11.2 安装与配置·································································································· 11-3

11.2.1 直线电机安装注意事项 ············································································· 11-3

11.2.2 直线电机与旋转电机配置说明 ···································································· 11-6

11.2.2.1 脉冲型电机周边配置·········································································· 11-7

11.2.2.2 脉冲型与弦波型电机周边配置 ······························································ 11-8

11.2.2.3 台达与第三方通讯型电机周边配置 ························································ 11-9

11.2.3 通讯型电机说明···················································································· 11-10

11.2.3.1 第三方通讯型电机··········································································· 11-10

11.2.3.2 电机通讯格式支持表·········································································11-11

11.2.3.3 通讯型电机脚位说明·········································································11-11

11.3 使用 ASDA-Soft 软件完成直线电机与第三方电机相关设定 ··································· 11-12

11.3.1 电机参数识别 11-13

11.3.1.1 直线电机参数识别流程····································································· 11-14

11.3.1.2 旋转电机参数识别流程····································································· 11-21

11.3.2 直线电机方向设定 11-28

11.4 直线编码器 11-29

11.5 霍尔组件··································································································· 11-30

11.5.1 霍尔组件安装 11-31

11.5.2 霍尔组件相序检查 11-32

11.6 位置信号转接盒 ·························································································· 11-33

11.6.1 位置信号转接盒规格 11-33

11.6.2 位置信号转接盒各部名称 11-34

11.6.3 位置信号转接盒接脚定义 ········································································ 11-35

11.7 直线电机相关参数设定 11-36

11.7.1 总重量 (动子+负载) 11-36

11.7.2 电子齿轮比·························································································· 11-36

11.7.3 极限设定 11-36

11.7.4 上电初始磁场侦测电流 11-37

11.7.5 过载增益····························································································· 11-38

CANopen 模式

12.1 基本配置····································································································· 12-2

12.1.1 支持功能······························································································· 12-2

12.1.2 硬件相关配置························································································· 12-3

12.1.3 CANopen 模式的参数设定 ········································································ 12-4

12.2 通讯规格····································································································· 12-5

12.2.1 伺服通讯架构························································································· 12-5

12.2.2 通讯对象······························································································· 12-6

12.2.2.1 PDO 物件 ······················································································· 12-7

12.2.2.2 SDO 物件 ······················································································· 12-8

12.2.2.3 SDO 异常码 (Abort Code)································································ 12-11

12.2.2.4 同步对象 (SYNC)··········································································· 12-12

12.2.2.5 紧急物件 (Emergency) ···································································· 12-13

12.2.2.6 NMT Services ················································································ 12-14

12.3 CANopen 操作模式 ····················································································· 12-17

12.3.1 Profile Position Mode (位置规划模式)························································ 12-17

12.3.2 Interpolated Position Mode (插补位置模式) ················································ 12-22

12.3.3 Homing Mode (原点复归模式) ································································· 12-25

12.3.4 Profile Velocity Mode (速度规划模式) ························································ 12-27

12.3.5 Profile Torque Mode (扭矩规划模式) ························································· 12-29

12.4 Object Dictionary 对象字典 ··········································································· 12-31

12.4.1 对象详述 (Specifications for Objects)························································ 12-31

12.4.2 对象一览表·························································································· 12-32

12.4.3 对象详细数据······················································································· 12-35

12.4.3.1 OD 1XXXh 通讯对象群组 ································································· 12-35

12.4.3.2 OD 2XXXh 伺服参数群组 ································································· 12-54

12.4.3.3 OD 6XXXh 通讯对象群组 ································································· 12-55

12.5 疑难解答··································································································· 12-98

EtherCAT 模式

13.1 基本配置····································································································· 13-3

13.1.1 硬件相关配置························································································· 13-3

13.1.2 ESI 档案汇入 ························································································· 13-7

13.1.3 EtherCAT 模式的参数设定 ········································································ 13-8

13.2 通讯功能··································································································· 13-12

13.2.1 规格··································································································· 13-12

13.2.2 同步模式····························································································· 13-14

13.2.2.1 伺服驱动器同步模式········································································ 13-14

13.2.2.2 同步模式选择················································································· 13-15

13.2.2.3 同步时钟设定················································································· 13-15

13.2.3 状态机 (EtherCAT State Machine) ··························································· 13-16

13.2.4 PDO 映像配置 ····················································································· 13-18

13.2.4.1 默认 PDO 映像配置········································································· 13-18

13.2.4.2 设定 PDO 映射··············································································· 13-20

13.2.4.3 PDO 映像物件 ··············································································· 13-21

13.2.4.4 SDO 异常码 (Abort Code)································································ 13-22

13.3 EtherCAT 操作模式 ····················································································· 13-23

13.3.1 Profile Position Mode (位置规划模式)························································ 13-23

13.3.2 Profile Velocity Mode (速度规划模式) ························································ 13-28

13.3.3 Profile Torque Mode (扭矩规划模式) ························································· 13-30

13.3.4 Homing Mode (原点复归模式) ································································· 13-32

13.3.5 Cyclic Synchronous Position Mode (周期同步位置模式) ································ 13-34

13.3.6 Cyclic Synchronous Velocity Mode (周期同步速度模式) ································ 13-36

13.3.7 Cyclic Synchronous Torque Mode (周期同步扭矩模式)·································· 13-38

13.3.8 Touch Probe (位置抓取功能与位置抓取状态) ·············································· 13-40

13.4 Object Dictionary 对象字典 ··········································································· 13-45

13.4.1 对象详述 (Specifications for Objects)························································ 13-45

13.4.2 对象一览表·························································································· 13-46

13.4.3 对象详细数据······················································································· 13-48

13.4.3.1 OD 1XXXh 通讯对象群组 ································································· 13-48

13.4.3.2 OD 2XXXh 伺服参数群组 ································································· 13-55

13.4.3.3 OD 6XXXh 通讯对象群组 ································································· 13-57

13.5 疑难解答··································································································13-106

13.5.1 EtherCAT 诊断系统 ··············································································13-106

13.5.2 错误异警码·························································································13-107

异警排除

14.1 异警一览表··································································································14-3

通用类········································································································14-3

STO 相关类·································································································14-5

通讯类········································································································14-6

运动控制命令类147

非台达通讯类·······························································································14-9

14.2 异警原因与处置·························································································· 14-10

如何排除问题

规格

A.1 ASDA-A3 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-13

A.2 ECM-A3 系列伺服电机 ····················································································A-15

A.2.1 A3L 低惯量电机电气规格 ···········································································A-15

A.2.2 A3H 高惯量电机电气规格···········································································A-16

A.2.3 A3 电机扭矩特性 (T-N 曲线)·······································································A-17

A.2.4 过负载之特性 ··························································································A-19

A.2.5 A3L / A3H 伺服电机外型尺寸 ······································································A-20

A.3 ECM-B3 系列伺服电机 ····················································································A-21

A.3.1 B3 电机电气规格······················································································A-21

A.3.1.1 220V 机种 ························································································A-21

F80 电机(含)以下 (低惯量 / 中惯量)······················································A-21

F80 电机(含)以下 (高惯量)···································································A-23

F100 电机 (中惯量)············································································A-25

F130 电机 (中惯量 / 高惯量) ·······························································A-27

F180 电机 (中惯量)············································································A-29

F220 电机 (中惯量)············································································A-31

A.3.1.2 400V 机种 A-33

F80 电机(含)以下 (中惯量)···································································A-33

F100 电机 (中惯量)············································································A-35

F130 电机 (中惯量 / 高惯量) ·······························································A-37

F180 电机 (中惯量)············································································A-39

F220 电机 (中惯量)············································································A-41

A.3.2 B3 电机扭矩特性 (T-N 曲线)·······································································A-43

A.3.2.1 220V 机种 ························································································A-43

F80 电机(含)以下 A-43

F100 电机 ·······················································································A-44

F130 电机 ·······················································································A-45

F180 电机 ·······················································································A-46

F220 电机 ·······················································································A-46

A.3.2.2 400V 机种 ························································································A-47

F80 电机(含)以下 A-47

附录

F100 电机 ·······················································································A-47

F130 电机 ·······················································································A-48

F180 电机 ·······················································································A-49

F220 电机 ·······················································································A-49

A.3.3 B3 电机额定值降低率················································································A-50

A.3.4 过负载之特性 ··························································································A-51

A.3.5 B3 伺服电机外型尺寸················································································A-53

A.3.5.1 220V 机种 ························································································A-53

F80 电机(含)以下 - 带线式 (低惯量 / 中惯量 / 高惯量) ····························A-53

F80 电机(含)以下 - 锁固式 (低惯量 / 中惯量 / 高惯量) ····························A-54

F100 电机 (中惯量)············································································A-55

F130 电机 (中惯量 / 高惯量) ·······························································A-56

F180 电机 (中惯量)············································································A-57

F220 电机 (中惯量)············································································A-58

A.3.5.2 400V 机种 ························································································A-59

F80 电机(含)以下 - 带线式 (中惯量)······················································A-59

F100 电机 (中惯量)············································································A-60

F130 电机 (中惯量 / 高惯量) ·······························································A-61

F180 电机 (中惯量)············································································A-62

F220 电机 (中惯量)············································································A-63

配件

B.1 动力接头 ······································································································· 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 & F220 电机 ······························································· B-6

B.2.5 F100 ~ F220 电机抱闸线 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.5.1 F40 ~ F80 电机························································································· B-9

B.5.2 F100 ~ F220 电机 ····················································································· B-9

B.6 编码器转接线/对手件接头 (锁固式)B10

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 A3-L、A3-M 机种·····················································································B-12

B.8.2 A3-F、A3-E 机种 ·····················································································B-13

B.9 CN3 配件 ·····································································································B-14

B.10 CN4 Mini USB 通讯线模块 ·············································································B-15

B.11 A3 / A2 转换线 ·····························································································B-16

B.12 位置信号转接盒 ···························································································B-16

B.13 铁氧体磁环 ·································································································B-17

B.14 F100 ~ F220 电机抱闸与编码器接头 (线) 选用注意事项 ·······································B-17

(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，用户可通

过 1.3 节的 ASDA-A3 伺服驱动器与电机对应参照表搜寻适合的电机。

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-A3 伺服驱动器与电机对应参照表 ················································ 1-13

1.3.1220V 机种·················································································· 1-13

1.3.2 400V 机种·················································································· 1-16

1.4 ASDA-A3 伺服驱动器各部名称 ···························································· 1-17

1.4.1220V 机种：A3-L········································································· 1-17

1.4.2 220V 机种：A3-M········································································ 1-18

1.4.3 220V 机种：A3-F ········································································ 1-19

1.4.4 220V 机种：A3-E ········································································ 1-20

1.4.5 400V 机种：A3-L········································································· 1-21

1.4.6 400V 机种：A3-M········································································ 1-22

1.4.7 400V 机种：A3-F ········································································ 1-23

1.4.8 400V 机种：A3-E ········································································ 1-24

产品型号说明ASDA-A3

1-2

1.1 开箱确认

本产品包含以下组件：

(1) 伺服驱动器

(2) 使用于 CN10 的 STO 接头。(220V A3-M 与 A3-E 机种、400V 全机种)

(3) 依机种附上不同的插拔式快速接头与一支塑料压棒

220V 机种

100 W ~ 1.5 kW

R、S、T 3-pin 插拔式快速接头

L1C、L2C、P1、P2、 5-pin 插拔式快速接头

P3、D、C 3-pin 插拔式快速接头

U、V、W 3-pin 插拔式快速接头

400V 机种

400 W ~ 1.5 kW

R、S、T 3-pin 插拔式快速接头

24V、0V 2-pin 插拔式快速接头

P1、P2、、P3、D、C 6-pin 插拔式快速接头

U、V、W 3-pin 插拔式快速接头

(4) 两片金属短路片：220V 机种 100 W ~ 4.5 kW、400V 机种 400 W ~ 1.5 kW

一片金属短路片：220V 机种 5.5 kW ~ 15 kW、400V 机种 2 kW ~ 15 kW

(5) 一本安装手册

ASDA-A3产品型号说明

1-3

1.2 产品型号对照

1.2.1 铭牌说明

ASDA-A3 系列伺服驱动器

 铭牌说明

产品型号

功率规格

输入电源规格

输出电源规格

生产管制序号与条码

韧体版本 0.41

INPUT:

OUTPUT:

No.18, Xinglong Rd., Taoyuan City 330477

USE PROPER GROUNDING TECHNIQUES

MODEL: ASD-A3-0421-L

POWER: 400W

200-230V 3PH 50/60Hz 2.67A

200-230V 1PH 50/60Hz 4.63A

110V 0-500Hz 2.6A

A30421L0T15070006 认证标志

产品型号

功率规格

输入电源规格

输出电源规格

生产管制序号与条码

韧体版本 0.41

MODEL: ASD-A3-0743-E

POWER: 750W

INPUT:

OUTPUT:

380-480V 3PH 50/60Hz 1.8A

220V 0-500Hz 3.12A

A30743E0W22280006

No.18, Xinglong Rd., Taoyuan City 330477

USE PROPER GROUNDING TECHNIQUES

认证标志

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

A30743E0 W 22 28 0006

(1) (2) (3) (4) (5)

(1) 机种型号

(2) 制造工厂 (T：桃园厂；W：吴江厂)

(3) 生产年份 (22：2022年)

(4) 生产周次 (从1至52)

(5) 制造序号 (一周內制造序号，从0001开始)

产品型号说明ASDA-A3

1-4

ECM-A3 / ECM-B3 系列伺服电机

 铭牌说明

ECM-B3M-CA0604RS1

VAC110 A1.42 Ins.A

r/min 3000 N.m 0.64 kW 0.2

BCCAB1JBW22430001

No.18,Xinglong Rd.,

Taoyuan City 30477

认证标志

MADE IN CHINA

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

BCCAB1JB W 22 43 0001

(1) (2) (3) (4) (5)

(1) 机种型号

(2) 制造工厂 (T：桃园厂；W：吴江厂)

(3) 生产年份 (22：2022年)

(4) 生产周次 (从1至52)

(5) 制造序号 (一周內制造序号，从0001开始)

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 电机的电源输入规格为 110V；400V 电机的电源输入规格为 220V。

ECMC 系列伺服电机

 铭牌说明

ECMC-CW1010RS

VAC 110 A 7.3 Ins A

r/min 3000 N.m 3.18 kW 1.0

CW1010RSW16070001

认证标志

MADE IN CHINA

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

CW1010RS W 16 07 0001

(1) (2) (3) (4) (5)

(1) 机种型号

(2) 制造工厂 (T：桃园厂；W：吴江厂)

(3) 生产年份 (16：2016年)

(4) 生产周次 (从1至52)

(5) 制造序号 (一周內制造序号，从0001开始)

注：电机的额定输入操作电压为安规认证电压，因此电源输入规格为 110V。

ASDA-A3产品型号说明

1-5

1.2.2 型号说明

ASDA-A3 伺服驱动器

ASD – A3 – 04 21 – L

(1) (2) (3) (4) (5)

(1) 产品名称

ASD：AC Servo Drive

(2) 产品系列

A3：A3 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 65 6.5 kW

02 200 W 20 2 kW 75 7.5 kW

04 400 W 30 3 kW 1B 11 kW

07 750 W 45 4.5 kW 1F 15 kW

10 1 kW 55 5.5 kW - -

产品型号说明ASDA-A3

1-6

(5) 机种代码

220V 机种

代号脉冲

输入

RS-485 CANopen 全闭环

控制

模拟量电

压控制

DMCNET E-CAM STO EtherCAT

L ○ ○ × ○ ○ × × × ×

M ○ ○ ○ ○* ○ × ○ ○ ×

F × × × ○* × ○ ○ × ×

E × × × ○* × × ○ ○ ○

400V 机种

代号脉冲

输入

RS-485 CANopen 全闭环

控制

模拟量电

压控制

DMCNET E-CAM STO EtherCAT

L ○ ○ × ○ ○ × × ○ ×

M ○ ○ ○ ○* ○ × ○ ○ ×

F × × × ○* × ○ ○ ○ ×

E × × × ○* × × ○ ○ ○

注：

1. *为预计新增功能。

2. 此处料号编码是为了帮助理解命名原则，并非所有任意组合皆能提供，详细可订购型号请洽经销商。

ASDA-A3产品型号说明

1-7

ECM-A3 系列伺服电机

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)(11)

ECM - A 3 H - C Y 06 04 R S 1

(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：A3 系列

(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) 编码器样式

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。

(7) 电机框架尺寸

代号规格

04 40 mm

06 60 mm

08 80 mm

产品型号说明ASDA-A3

1-8

(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：C0807S的特别码，详细请参阅 A.2.5 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

0F 50 W 04 400 W

01 100 W 07 750 W

02 200 W - -

无抱闸，有油封有抱闸，有油封

带键槽

带螺丝孔

R S

ASDA-A3产品型号说明

1-9

ECM-B3 系列伺服电机

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)(11)

ECM - B 3 M - C 2 06 04 R S 1

(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-A3

1-10

(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，以及 F220 11 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 13 130 mm

06 60 mm 18 180 mm

08 80 mm 22 220 mm

10 100 mm - -

代号规格代号规格

01 100 W 18 1.8 kW

02 200 W 20 2 kW

04 400 W 30 3 kW

07 750 W 45 4.5 kW

08 850 W 55 5.5 kW

10 1 kW 75 7.5 kW

13 1.3 kW 1B 11 kW

15 1.5 kW 1F 15 kW

无抱闸，有油封有抱闸，有油封

带键槽

带螺丝孔

R S

ASDA-A3产品型号说明

1-11

ECMC 系列伺服电机

ECM C – F W 13 08 R S

(1) (2) (3) (4) (5) (6) (7) (8)

(1) 产品名称

ECM：电子换相式电机

(2) 驱动型态

C：高精度交流伺服电机 (建议用于 CNC 应用)

(3) 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

(4) 编码器型式

W：22-bit 绝对型编码器 (单圈分辨率：22-bit；圈数分辨率：16-bit)

(5) 电机框架尺寸

(6) 额定输出功率

代号规格

10 100 mm

13 130 mm

18 180 mm

代号规格代号规格

08 850 W 18 1.8 kW

10 1 kW 20 2 kW

13 1.3 kW 30 3 kW

15 1.5 kW - -

产品型号说明ASDA-A3

1-12

(7) 轴径型式和油封

(8) 轴径规格

S：标准

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。

无抱闸

无油封

有抱闸

无油封

无抱闸

有油封

有抱闸

有油封

圆轴

带螺丝孔 - - C D

带键槽

带螺丝孔 - - R S

ASDA-A3产品型号说明

1-13

1.3 ASDA-A3 伺服驱动器与电机对应参照表

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-C040F 3000 /

6000 40 50 0.0229 / 0.0255 0.66 / 2.82 0.159 / 0.557 ASD-A3-0121- 100 0.9 /3.54

ECM-A3L-C0401 3000 /

6000 40 100 0.04 / 0.0426 0.9 / 3.88 - ASD-A3-0121- 100 0.9 / 3.54

0.32 / 1.12 ASD-A3-0221- 200 1.55 / 7.07

ECM-A3L-C0602 3000 /

6000 60 200 0.09 / 0.12 1.45 / 6.2 0.64 / 2.24 ASD-A3-0221- 200 1.55 / 7.07

ECM-A3L-C0604 3000 /

6000 60 400 0.15 / 0.18 2.65 / 10.1 1.27 / 4.45 ASD-A3-0421- 400 2.6 / 10.61

ECM-A3L-C0804 3000 /

6000 80 400 0.352 / 0.408 2.6 / 10.6 1.27 / 4.44 ASD-A3-0421- 400 2.6 / 10.61

ECM-A3L-C0807 3000 /

6000 80 750 0.559 / 0.614 5.1 / 20.6 2.39 / 6.45 ASD-A3-0721- 750 5.1 / 21.21

ECM-A3H-C040F 3000 /

6000 40 50 0.0455 / 0.0517 0.64 / 2.59 - ASD-A3-0121- 100 0.9 / 3.54

0.159 / 0.557 ASD-A3-0221- 200 1.55 / 7.07

ECM-A3H-C0401 3000 /

6000 40 100 0.0754 / 0.0816 0.9 / 3.64 0.32 / 1.12 ASD-A3-0121- 100 0.9 / 3.54

ECM-A3H-C0602 3000 /

6000 60 200 0.25 / 0.28 1.45 / 5.3 0.64 / 2.24 ASD-A3-0221- 200 1.55 / 7.07

ECM-A3H-C0604 3000 /

6000 60 400 0.45 / 0.48 2.65 / 9.8 1.27 / 4.45 ASD-A3-0421- 400 2.6 / 10.61

ECM-A3H-C0804 3000 /

6000 80 400 0.92 / 1.07 2.6 / 9.32 1.27 / 4.44 ASD-A3-0421- 400 2.6 / 10.61

ECM-A3H-C0807 3000 /

6000 80 750 1.51 / 1.66 4.61 / 16.4 2.39 / 7.23 ASD-A3-0721- 750 5.1 / 21.21

产品型号说明ASDA-A3

1-14

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-C0401 3000 / 6000 40 100 0.0299 / 0.0315 0.857 / 3.44 0.32 / 1.12 ASD-A3-0121- 100 0.9 / 3.54

ECM-B3M-C0602 3000 / 6000 60 200 0.141 / 0.151 1.42 / 6.62 0.64 / 2.24 ASD-A3-0221- 200 1.55 / 7.07

ECM-B3M-C0604 3000 / 6000 60 400 0.254 / 0.264 2.40 / 9.47 1.27 / 4.45 ASD-A3-0421- 400 2.6 / 10.61

ECM-B3M-C0804 3000 / 6000 80 400 0.648 / 0.695 2.53 / 9.42 1.27 / 4.45 ASD-A3-0421- 400 2.6 / 10.61

ECM-B3M-C0807 3000 / 6000 80 750 1.07 / 1.13 4.27 / 15.8 2.4 / 8.4 ASD-A3-0721- 750 5.1 / 21.21

ECM-B3M-C0810 3000 / 6000 80 1k 1.37 / 1.40 5.00 / 18.2 3.18 / 11.13 ASD-A3-1021- 1k 7.3 / 24.75

ECM-B3M-C1010 3000 / 6000 100 1k 2.78 / 3.06 6.05 / 18.4 3.18 / 9.54 ASD-A3-1021- 1k 7.3 / 24.75

ECM-B3M-C1015 3000 / 6000 100 1.5k 3.69 / 3.97 7.48 / 22.8 4.77 / 14.3 ASD-A3-1521- 1.5k 8.3 / 27

ECM-B3M-C1020 3000 / 6000 100 2k 4.68 / 4.95 9.96 / 30.7 6.37 / 19.1 ASD-A3-2023- 2k 13.4 / 53.03

ECM-B3M-E1310 2000 / 3000 130 1k 7.79 / 7.94 5.96 / 19.9 4.77 / 14.3 ASD-A3-1021- 1k 7.3 / 24.75

ECM-B3M-E1315 2000 / 3000 130 1.5k 11.22 / 11.37 8.17 / 26.82 7.16 / 21.48 ASD-A3-1521- 1.5k 8.3 / 27

ECM-B3M-E1320 2000 / 3000 130 2k 14.65 / 14.8 10.59 / 34.20 9.55 / 28.65 ASD-A3-2023- 2k 13.4 / 53.03

ECM-B3M-E1820 2000 / 3000 180 2k 29.11 / 30.38 11.43 / 36.21 9.55 / 28.65 ASD-A3-2023- 2k 13.4 / 53.03

ECM-B3M-F1830 1500 / 3000 180 3k 53.63 / 54.9 18.21 / 58.9 19.1 / 57.29 ASD-A3-3023- 3k 19.4 / 58.9

ECM-B3M-F1845 1500 / 4000 180 4.5k 67.73 / 69.15 26.6 / 70.7 28.65 / 71.6 ASD-A3-4523- 4.5k 32.5 / 70.71

ECM-B3M-F1855 1500 / 4000 180 5.5k 98.88 / 100.1 30.7 / 98.6

35.01 / 102.9 ASD-A3-5523- 5.5k 40 / 95.6

35.01 / 105 ASD-A3-7523- 7.5k 47.5 / 106.1

ECM-B3M-F1875 1500 / 4000 180 7.5k 134.95 / 136.24 44.2 / 113.4

47.75 / 110.9 ASD-A3-7523- 7.5k 47.5 / 106.1

47.75 / 119 ASD-A3-1B23- 11k 58.6 / 120

ECM-B3M-F221B 1500 / 4000 220 11k 302.2 / 303.1 45.1 / 120.0 70.03 / 175 ASD-A3-1B23- 11k 58.6 / 120

ECM-B3M-F221F 1500 / 4000 220 15k 400.0 / 400.9 72.8 / 192.4 95.49 / 238.5 ASD-A3-1F23- 15k 72.8 / 192.4

ECM-B3H-C0602 3000 / 6700 60 200 0.265 / 0.280 1.51 / 6.12 0.64 / 2.43 ASD-A3-0221- 200 1.55 / 7.07

ECM-B3H-C0604 3000 / 6700 60 400 0.523 / 0.538 2.21 / 8.46 1.27 / 4.83 ASD-A3-0421- 400 2.6 /10.61

ECM-B3H-C0807 3000 / 6700 80 750 1.55 / 1.62 4.19 / 16.3

2.4 / 7.86 ASD-A3-0721- 750 5.1 / 14.14

2.4 / 9.12 ASD-A3-1021- 1k 7.3 / 24.75

ECM-B3H-F1308 1500 / 4000 130 850 12.44 / 12.62 6.65 / 20.0 5.39 / 16.17 ASD-A3-1021- 1k 7.3 / 24.75

ECM-B3H-F1313 1500 / 4000 130 1.3k 18.00 / 18.14 7.70 / 23.9 8.34 / 25.02 ASD-A3-1521- 1.5k 8.3 / 27

ECM-B3H-F1318 1500 / 4000 130 1.8k 22.60 / 22.80 11.5 / 36.1 11.5 / 34.5 ASD-A3-2023- 2k 13.4 / 53.03

ASDA-A3产品型号说明

1-15

ECMC 系列伺服电机

伺服电机伺服驱动器

惯量别额定 /

最大转速电源输出 (W) 型号额定扭矩

(N·m)

最大扭矩

(N·m)

型号

中惯量

3000 /

5000 rpm

单/三相

1000 ECMC-C1010 3.18 9.54 ASD-A3-1021-

2000 /

3000 rpm

1000 ECMC-E1310 4.77 14.3 ASD-A3-1021-

1500 ECMC-E1315 7.16 21.5 ASD-A3-1521-

三相

2000 ECMC-E1320 9.55 28.7

ASD-A3-2023-

2000 ECMC-E1820 9.55 28.7

3000 ECMC-E1830 14.32 43

1500 / ASD-A3-3023-

3000 rpm 3000 ECMC-F1830 19.10 57.3

高惯量 1500 /

3000 rpm

单/三相 850 ECMC-F1308 5.41 13.8 ASD-A3-1021-

三相

1300 ECMC-F1313 8.34 23.3

ASD-A3-2023-

1800 ECMC-F1318 11.48 28.7

产品型号说明ASDA-A3

1-16

1.3.2 400V 机种

ECM-B3 系列伺服电机

伺服电机驱动器

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-J0604

3000 / 6000

60 400 0.254 / 0.264 1.35 / 5.20 1.27 / 4.45 ASD-A3-0443- 400 1.60 / 5.40

ECM-B3M-J0807 80 750 1.07 / 1.13 2.15 / 7.90 2.4 / 8.4 ASD-A3-0743- 750 3.12 / 9.70

ECM-B3M-J1010 100 1k 2.78 / 3.06 3.03 / 9.21 3.18 / 9.54 ASD-A3-1043- 1k 3.52 / 10.54

ECM-B3M-J1015 100 1.5k 3.69 / 3.97 3.73 / 11.4 4.77 / 14.31 ASD-A3-1543- 1.5k 5.06 / 16.35

ECM-B3M-J1020 100 2k 4.68 / 4.95 5.00 / 15.3 6.37 / 19.11 ASD-A3-2043- 2k 6.60 / 19.88

ECM-B3M-K1310

2000 / 3000

130 1k 7.79 / 7.94 3.00 / 9.95 4.77 / 14.3 ASD-A3-1043- 1k 3.52 / 10.54

ECM-B3M-K1315 130 1.5k 11.22 / 11.37 4.09 / 13.37 7.16 / 21.48 ASD-A3-1543- 1.5k 5.06 / 16.35

ECM-B3M-K1320 130 2k 14.65 / 14.80 5.30 / 17.1 9.55 / 28.65 ASD-A3-2043- 2k 6.60 / 19.88

ECM-B3H-L1308

1500 / 4000

130 850 12.44 / 12.62 3.35 / 10.0 5.39 / 16.17 ASD-A3-1043- 1k 3.52 / 10.54

ECM-B3H-L1313 130 1.3k 18.00 / 18.14 3.85 / 12.0 8.34 / 25.02 ASD-A3-1543- 1.5k 5.06 / 16.35

ECM-B3H-L1318 130 1.8k 22.60 / 22.80 5.75 / 18.1 11.5 / 34.5 ASD-A3-2043- 2k 6.60 / 19.88

ECM-B3M-K1820 2000 / 3000 180 2k 29.11 / 30.38 5.7 / 18.1 9.55 / 28.65 ASD-A3-2043- 2k 6.60 / 19.88

ECM-B3M-L1830 1500 / 3000 180 3k 53.63 / 54.9 9.1 / 29.45 19.1 / 57.29 ASD-A3-3043- 3k 9.11 / 29.45

ECM-B3M-L1845

1500 / 4000

180 4.5k 67.73 / 69.15 13.3 / 35.35 28.65 / 71.6 ASD-A3-4543- 4.5k 13.30 / 35.35

ECM-B3M-L1855 180 5.5k 98.88 / 100.1 15.3 / 49.29 35.01 / 105

ASD-A3-5543- 5.5k 15.34 / 49.29

ASD-A3-6543- 6.5k 17.5 / 49.29

ECM-B3M-L1875 180 7.5k 134.95 / 136.24 22.1 / 56.68 47.75 / 119 ASD-A3-7543- 7.5k 22.40 / 56.68

ECM-B3M-L221B 220 11k 302.2 / 303.1 21.2 / 56.5 70.03 / 175 ASD-A3-1B43- 11k 27.30 / 68.25

ECM-B3M-L221F 220 15k 400 / 400.9 29.2 / 77 95.49 / 238.5 ASD-A3-1F43- 15k 31.00 / 80.20

ASDA-A3产品型号说明

1-17

1.4 ASDA-A3 伺服驱动器各部名称

1.4.1 220V 机种：A3-L

B 下视图 A 上视图 B 下视图

A 上视图

(14)

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口：连接至个人计算机

(4) CN3 RS-485 连接器：连接至上层控制器及通讯控制用端口

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) R、S、T* 主回路电源输入端；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)

(9) L1C*、L2C* 控制回路电源输入端；供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)

(10) P1*、P2* 规划中

(11) 散热座用于固定服务器及散热

(12) CN5 位置反馈信号接头

(13) U、V、W*

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。

(14)

回生电阻*

(P3、D、C、

)

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

产品型号说明ASDA-A3

1-18

1.4.2 220V 机种：A3-M

A 上视图

B 下视图 B 下视图

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编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) CN3 RS-485 与 CANopen 连接器：连接至上层控制器及 CANopen

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) CN10 STO (Safe Torque Off) 端子

(9) R、S、T* 主回路电源输入端；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)

(10) L1C*、L2C* 控制回路电源输入端；供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)

(11) P1*、P2* 规划中

(12) 散热座用于固定服务器及散热

(13) CN5 位置反馈信号接头

(14) U、V、W* 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。

(15)

回生电阻*

(P3、D、C、

)

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

ASDA-A3产品型号说明

1-19

1.4.3 220V 机种：A3-F

A 上视图

B 下视图 B 下视图

(14)

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) CN6 DMCNET 连接器

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) R、S、T* 主回路电源输入端；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)

(9) L1C*、L2C* 控制回路电源输入端；供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)

(10) P1*、P2* 规划中

(11) 散热座用于固定服务器及散热

(12) CN5 位置反馈信号接头

(13) U、V、W*

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。

(14)

回生电阻*

(P3、D、C、

)

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

产品型号说明ASDA-A3

1-20

1.4.4 220V 机种：A3-E

A 上视图

B 下视图 B 下视图

(16)

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4)

EtherCAT

灯号 EtherCAT 状态灯

(5) CN6 EtherCAT 连接器

(6) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(7) CN2 编码器连接器：连接至伺服电机上的编码器

(8) 接地螺丝连接至电源地线及电机地线

(9) CN10 STO (Safe Torque Off) 端子

(10) R、S、T* 主回路电源输入端；连接于商用电源 (200 ~ 230 VAC，50/60 Hz 电源)

(11) L1C*、L2C* 控制回路电源输入端；供给单相电源 (200 ~ 230 VAC，50/60 Hz 电源)

(12) P1*、P2* 规划中

(13) 散热座用于固定服务器及散热

(14) CN5 位置反馈信号接头

(15) U、V、W* 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。

(16)

回生电阻*

(P3、D、

C、 )

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

ASDA-A3产品型号说明

1-21

1.4.5 400V 机种：A3-L

A 上视图

B 下视图 B 下视图

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) CN3 RS-485 连接器：连接至上层控制器及通讯控制用端口

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) CN10 STO (Safe Torque Off) 端子

(9) 24V*、0V* 控制回路电源；连接于 24 VDC ± 10%电源

(10) R、S、T* 主回路电源输入端；连接于商用电源 (380 ~ 480 VAC，50/60 Hz 电

源)

(11) U、V、W*

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。

(12)

回生电阻*

(P3、D、

C、 )

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

(13) P1*、P2* 规划中

(14) CN5 位置反馈信号接头

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

产品型号说明ASDA-A3

1-22

1.4.6 400V 机种：A3-M

A 上视图

B 下视图 B 下视图

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) CN3 RS-485 及 CANopen 连接器：连接至上层控制器及 CANopen

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) CN10 STO (Safe Torque Off) 端子

(9) 24V*、0V* 控制回路电源；连接于 24 VDC ± 10%电源

(10) R、S、T* 主回路电源输入端；连接于商用电源 (380 ~ 480 VAC，50/60 Hz 电源)

(11) U、V、W* 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。

(12)

回生电阻*

(P3、D、C、

)

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

(13) P1*、P2* 规划中

(14) CN5 位置反馈信号接头

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

ASDA-A3产品型号说明

1-23

1.4.7 400V 机种：A3-F

A 上视图

B 下视图 B 下视图

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) CN6 DMCNET 连接器

(5) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(6) CN2 编码器连接器：连接至伺服电机上的编码器

(7) 接地螺丝连接至电源地线及电机地线

(8) CN10 STO (Safe Torque Off) 端子

(9) 24V*、0V* 控制回路电源；连接于 24 VDC ± 10%电源

(10) R、S、T* 主回路电源输入端；连接于商用电源 (380 ~ 480 VAC，50/60 Hz 电源)

(11) U、V、W* 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。

(12)

回生电阻*

(P3、D、

C、 )

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

(13) P1*、P2* 规划中

(14) CN5 位置反馈信号接头

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

产品型号说明ASDA-A3

1-24

1.4.8 400V 机种：A3-E

A 上视图

B 下视图 B 下视图

编号名称说明

(1) - 七段显示器

(2) CHARGE 电源指示灯

(3) CN4 Mini USB 端口，连接至个人计算机

(4) EtherCAT 灯号 EtherCAT 状态灯

(5) CN6 EtherCAT 连接器

(6) CN1 I/O 连接器：连接至可程控器 (PLC) 或控制 I/O

(7) CN2 编码器连接器：连接至伺服电机上的编码器

(8) 接地螺丝连接至电源地线及电机地线

(9) CN10 STO (Safe Torque Off) 端子

(10) 24V*、0V* 控制回路电源；连接于 24 VDC ± 10%电源

(11) R、S、T* 主回路电源输入端；连接于商用电源 (380 ~ 480 VAC，50/60 Hz 电

源)

(12) U、V、W* 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。

(13)

回生电阻*

(P3、D、C、

)

使用外部回生电阻：P3、C 端接电阻，P3、D 端开路。

使用内部回生电阻：P3、C 端开路，P3、D 端短路。

使用外部回生单元：P3、端接回生单元，P3、C 端与 P3、D 端开

路。

(14) P1*、P2* 规划中

(15) CN5 位置反馈信号接头

注：*表示端子座/端子台型式依各机型而有所不同，但不影响其接脚定义与功能。

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···················································································· 2-3

2.3 驱动器安装方向与空间········································································ 2-5

2.4 电机安全预防措施·············································································· 2-8

2.4.1电机动作、状态的故障分析排除表 ················································· 2-10

2.4.2电机安装方向注意事项 ·································································2-11

2.4.3使用油封电机的注意事项 ····························································· 2-12

2.4.4电机安装对手件的注意事项 ·························································· 2-13

2.4.5电机油水对策注意事项 ································································ 2-15

2.4.6抑制伺服电机温升的措施 216

2.5 断路器、电磁接触器与保险丝建议规格表 ·············································· 2-17

2.6 铁氧体磁环 219

2.7 EMC 安装条件 2-21

2.7.1电磁干扰滤波器 (EMI Filters)························································ 2-23

2.8 回生电阻的选择方法 2-25

2.9 电磁抱闸的使用··············································································· 2-31

2.10 线材的使用 ··················································································· 2-33

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