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大功率伺服驱动系统 ASDA-H3
应用技术手册
i
序言
感谢您使用本产品，本使用手册提供 ASDA-H3 系列伺服驱动器(简称 H3)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
运动控制说明
参数说明
通讯协议说明
异警排除
产品特色
应用于大功率与超大功率市场：橡塑设备、包装设备、印刷设备、及码垛机器人等
模块化设计：节省机柜空间；根据电机使用轴数可弹性选择合适功率的模块
共直流母线设计：可提升回生能量使用效率
整合能力高：可搭配多轴第三方通讯格式的电机
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。
ii
安全注意事項
本系列产品为一高解析开放型(Open type)的伺服驱动器，操作时须安装于遮蔽式的控制箱内。
本驱动器利用精密的回授控制及结合高速运算能力的数字信号处理器 (Digital Signal Processor, DSP)，来控
制 IGBT 产生精确之电流输出，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线(电)箱环境 (驱动器、线材及电机都必
须安装于符合 UL50 Type 1 的安装环境最低要求规格)。
在接收检验、安装、配线、操作、维护及检查时，应随时注意以下安全注意事项。
标志「危险」、「警告」及「禁止」代表之涵义：
意指可能潜藏危险，若未遵守可能会对人员造成严重或致命的伤害。
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。
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。
接收检验
请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符合 Class 3 标准 (100 Ω 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，须配合其使用者参数调整设定值。若未调整到相符的正确设定值，可能会导致机
械设备运转失去控制或发生故障。
机器开始运转前，请确认是否可以随时启动紧急停机装置。
上电时，请确保电机轴心保持静止，不会因机构惯性或其它因素而转动。
STOP 当电机运转时，禁止接触任何旋转中的电机零件，否则可能造成人员受伤。
为避免意外事故，第一次试运转时，请卸下所有机构，使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：请先在无负载情况下，测试伺服电机是否正常运作，之后再将负载接上，以避免不必要的危
险。
在运转中，请不要触摸伺服驱动器之散热片，否则可能造成烫伤。
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
WARNING
请不要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 公分 (11.8 英吋) 以上。
对于信号线、编码器反馈线，请使用多股绞合线以及多芯绞合整体隔离线。对于配线长度，信号输入线
最长为 3 公尺 (9.84 英呎)，编码器反馈线最长为 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。
STOP 请不要频繁地开关电源。如需连续开关电源，请控制在一分钟一次以下。
主电路端子座配线
WARNING
配线时，请将端子座从伺服驱动器上拆下来。
端子座的一个电线插入口，请仅插入一根电线。
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。
iv
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。
v
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、电机与机柜的接地是否松脱。
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. 机柜开孔处 (风扇或散热孔) 需加防尘滤网，并定期清除异物堆积。机柜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。
vi
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 (1 ~ 3 万小时)
继电器 约 10 万次
Soft start 电阻 约 2 万次
电池盒 电池 请参考 9.1.1 节
电机
轴承 20000 ~ 30000 小时
油封 5000 小时
STOP
若零件已达更换周期，请洽询本公司或经销商，透过专业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。
目录
使用前
产品型号说明
1.1 产品型号对照 ··································································································1-2
1.1.1 铭牌说明 ·································································································1-2
1.1.2 型号说明 ·································································································1-5
1.1.2.1 电源模块·····························································································1-5
1.1.2.2 驱动模块·····························································································1-6
1.1.2.3 ECM-B3 系列伺服电机···········································································1-7
1.1.2.4 ECM-J3 系列伺服电机 ···········································································1-9
1.2 ASDA-H3 选型说明························································································· 1-11
1.2.1 基本組成說明 ························································································· 1-11
1.2.2 驱动模块与电机匹配表 ············································································· 1-12
1.2.3 各模块选型需求 ······················································································ 1-13
1.2.4 H3 选型流程··························································································· 1-14
1.3 ASDA-H3 各部名称························································································· 1-16
1.3.1 电源模块 ······························································································· 1-16
1.3.2 驱动模块 ······························································································· 1-17
安装
2.1 储存环境条件 ··································································································2-2
2.2 安装环境条件 ··································································································2-3
2.3 安装方向 ········································································································2-4
2.4 模块安装 ········································································································2-5
2.4.1 机柜内安装空间 ························································································2-5
2.4.2 基板安装方式 27
2.5 断路器、电磁接触器与保险丝建议规格表·······························································2-8
2.6 交流电抗器 ·····································································································2-9
2.6.1 安装方式 ·································································································2-9
2.6.2 交流电抗器选用规格 ··················································································2-9
2.7 零相电抗器 ··································································································· 2-10
2.7.1 安装方式 210
2.7.2 安装注意事项 210
2
1
2.7.3 零相电抗器型号与接线方式 ······································································· 2-11
2.8 EMC 安装条件 ······························································································· 2-13
2.8.1 电磁干扰滤波器 (EMI Filters)····································································· 2-14
2.9 回生电阻与制动单元的选择方法········································································· 2-16
2.10 电磁抱闸的使用···························································································· 2-22
2.11 线材的使用·································································································· 2-24
2.12 电机安全预防措施························································································· 2-25
2.12.1 电机动作、状态的故障分析排除表····························································· 2-27
2.12.2 电机安装方向注意事项············································································ 2-28
2.12.3 使用油封电机的注意事项········································································· 2-29
2.12.4 电机安装对手件的注意事项······································································ 2-30
2.12.5 电机油水对策注意事项············································································ 2-32
2.12.6 抑制伺服电机温升的措施········································································· 2-33
配线
3.1 台达系统配线 ··································································································3-3
3.1.1 外围装置接线图 ························································································3-3
3.1.1.1 电源模块·····························································································3-3
3.1.1.2 驱动模块·····························································································3-4
3.1.1.3 系统接地·····························································································3-5
3.1.1.4 直流母线电源连接·················································································3-6
3.1.1.5 24V 直流控制电源连接···········································································3-7
3.1.2 连接器与端子 ···························································································3-8
3.1.3 H3 模块接线法··························································································3-9
3.1.4 B3 电机 U、V、W 动力接头规格································································· 3-11
3.1.4.1 F180 4.5 kW(含)以下动力接头······························································· 3-11
3.1.4.2 F180 5.5 kW(含)以上 & F220 动力接头 ··················································· 3-13
3.1.5 B3 电机编码器线与连接头规格 ··································································· 3-15
3.1.5.1 F180 ~ F220 编码器接头······································································ 3-15
3.1.6 线材的选择 ···························································································· 3-19
3.1.6.1 线径与端子························································································ 3-19
3.1.6.2 端子配线说明 3-20
3.1.6.3 端子台 / 螺丝与锁附扭力规格······························································· 3-21
3.1.6.4 编码器线材规格·················································································· 3-22
3.1.6.5 动力线材规格····················································································· 3-23
电机框号及功率：F180 4.5 kW 以下 ······················································· 3-23
电机框号及功率：F180 5.5 kW 以上 & F220 ············································ 3-24
3.1.6.6 耐挠曲线材规格·················································································· 3-25
3.1.7 B3 电机防水接头安装说明 3-26
3.1.7.1 F180 4.5 kW 机种防水接头配线安装说明 3-26
3.1.7.2 防水接头规格····················································································· 3-27
3
3.1.8 J3 电机接线说明 ····················································································· 3-28
3.1.8.1 J3 电机端子台 / 接线盒规格 ································································· 3-30
3.1.8.2 J3 电机 CN2 编码器信号接线 ································································ 3-31
3.2 伺服系统基本方块图 ······················································································· 3-33
3.3 CN1 I/O 信号接线··························································································· 3-34
3.3.1 CN1 界面接线图······················································································ 3-41
3.4 CN2 编码器信号接线······················································································· 3-48
3.5 CN3 RS-485 通讯端口信号接线········································································· 3-51
3.6 CN4 串行通讯端口 (Mini USB)·········································································· 3-52
3.7 CN5 机械位置反馈信号接线 (可应用全闭回路) ····················································· 3-53
3.8 CN6 EtherCAT 通讯端口信号接线 ······································································ 3-55
3.9 CN10 STO 功能 (Safe Torque Off)····································································· 3-58
3.9.1 STO 介绍 ······························································································ 3-58
3.9.2 使用上的注意事项 ··················································································· 3-58
3.9.3 潜在风险 ······························································································· 3-58
3.9.4 安全参数 ······························································································· 3-59
3.9.5 STO 动作 ······························································································ 3-60
3.9.5.1 反应时间··························································································· 3-60
3.9.5.2 异警触发··························································································· 3-61
3.9.5.3 解除 STO 状态的方法 ·········································································· 3-63
3.9.6 STO 配线 ······························································································ 3-68
3.9.6.1 CN10 STO 端子 ················································································· 3-68
3.9.6.2 输入输出信号规格··············································································· 3-69
3.9.6.3 不使用 STO 功能 ················································································ 3-70
3.9.6.4 单轴使用 STO 功能 ············································································· 3-70
3.9.6.5 多轴使用 STO 功能 ············································································· 3-71
3.9.7 验证测试 ······························································································· 3-72
3.10 标准接线方式······························································································· 3-73
3.10.1 位置(PT)模式标准接线 - 差动脉冲信号 ······················································ 3-73
3.10.2 位置(PT)模式标准接线 - 开集极脉冲信号 ··················································· 3-74
3.10.3 位置(PR)模式标准接线 - 内部位置命令······················································ 3-75
3.10.4 速度(S)模式标准接线 376
3.10.5 扭矩(T)模式标准接线·············································································· 3-77
3.10.6 通信(EtherCAT)模式标准接线··································································· 3-78
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
4.3.3 警示信息显示 ·····························································································4-6
4.3.4 正负号设定显示 ··························································································4-7
4.3.5 监视显示 ···································································································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 初步检测 ································································································· 4-13
4.5.2 ASDA-H3 系统送电···················································································· 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 ········································································································5-8
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····································································5-9
5.4 自动调机 ······································································································ 5-12
5.4.1 自动调机注意事项 ····················································································· 5-13
5.4.2 自动调机流程图 ························································································ 5-14
5.4.3 自动调机 - 操作面板 ················································································· 5-15
5.4.4 自动调机 - 操作 ASDA-Soft 软件·································································· 5-16
5.4.5 自动调机相关参数 ····················································································· 5-23
5.4.5.1 自动增益调整准位 1 (P2.105) - 调整刚性 ·················································· 5-23
5.4.5.2 自动增益调整准位 2 (P2.106) - 调整响应 ·················································· 5-24
5.4.6 自动调机相关异警 ····················································································· 5-25
5.5 增益调整模式 ································································································ 5-26
5.5.1 增益调整模式差异表 5-26
5.5.2 增益调整模式流程 ····················································································· 5-28
5.5.3 增益调整模式 1 ························································································· 5-29
5.5.4 增益调整模式 2 ························································································· 5-29
5.5.5 增益调整模式 3 ························································································· 5-30
5
5.5.6 增益调整模式 4 ························································································· 5-31
5.5.7 增益调整模式 5 ························································································· 5-32
5.5.8 增益调整模式 6 ························································································· 5-32
5.5.9 增益调整模式相关参数 ··············································································· 5-33
5.5.9.1 带宽响应层级(P2.031) - 调整刚性 ·························································· 5-33
5.5.9.2 命令响应增益(P2.089) - 调整响应 ·························································· 5-34
5.5.9.3 速度回路响应带宽设定(P2.126) - 调整带宽 ·············································· 5-34
5.6 手动调整增益参数 ·························································································· 5-35
5.6.1 手动调整增益流程 - 速度模式······································································ 5-37
5.6.2 手动调整增益流程 - 位置模式······································································ 5-38
5.6.3 手动调整增益 - 操作 ASDA-Soft 软件···························································· 5-39
5.7 机械共振与异音的处理····················································································· 5-40
5.7.1 共振抑制 Notch filter ·················································································· 5-41
5.7.1.1 功能限制··························································································· 5-41
5.7.1.2 功能说明··························································································· 5-41
5.7.1.3 参数介绍··························································································· 5-42
5.7.1.4 应用范例··························································································· 5-43
5.7.2 共振抑制低通滤波器 ·················································································· 5-46
5.7.2.1 功能限制··························································································· 5-46
5.7.2.2 功能说明··························································································· 5-46
5.7.2.3 应用范例··························································································· 5-46
5.7.3 速度检测滤波器 ························································································ 5-47
5.7.3.1 功能限制··························································································· 5-47
5.7.3.2 功能说明··························································································· 5-47
5.7.3.3 应用范例··························································································· 5-48
5.7.4 低频抑振滤波器 ························································································ 5-49
5.7.4.1 功能限制··························································································· 5-49
5.7.4.2 功能说明··························································································· 5-49
5.7.4.3 应用范例··························································································· 5-51
5.7.5 模型控制抑振滤波器 ·················································································· 5-52
5.7.5.1 双自由度功能限制··············································································· 5-52
5.7.5.2 双自由度模式功能说明 5-53
5.7.5.3 双自由度模式应用范例········································································· 5-54
5.7.5.4 挠性补偿功能限制··············································································· 5-55
5.7.5.5 挠性补偿功能说明··············································································· 5-55
5.7.5.6 挠性补偿应用范例··············································································· 5-56
5.7.6 位置命令滤波器 ························································································ 5-57
5.7.6.1 功能限制··························································································· 5-57
5.7.6.2 功能说明 5-57
5.7.6.3 应用范例 5-58
5.7.7 速度命令滤波器 ························································································ 5-59
5.7.7.1 功能限制··························································································· 5-59
5.7.7.2 功能说明··························································································· 5-59
5.7.7.3 应用范例··························································································· 5-59
5.7.8 扭矩命令滤波器 ························································································ 5-60
5.7.8.1 功能限制··························································································· 5-60
5.7.8.2 功能说明··························································································· 5-60
5.7.8.3 应用范例··························································································· 5-60
5.8 应用功能调整 ································································································ 5-61
5.8.1 等速段位置误差调整 ·················································································· 5-61
5.8.1.1 功能限制··························································································· 5-61
5.8.1.2 功能说明··························································································· 5-61
5.8.1.3 应用范例··························································································· 5-62
5.8.2 位置过冲调整 ··························································································· 5-63
5.8.2.1 功能限制··························································································· 5-63
5.8.2.2 功能说明··························································································· 5-63
5.8.2.3 应用范例··························································································· 5-63
5.8.3 多轴轨迹控制 ··························································································· 5-64
5.8.3.1 功能限制··························································································· 5-64
5.8.3.2 功能说明··························································································· 5-64
5.8.3.3 应用范例··························································································· 5-65
5.8.4 增益切换 ································································································· 5-67
5.8.4.1 功能限制··························································································· 5-67
5.8.4.2 功能说明··························································································· 5-67
5.8.4.3 应用范例··························································································· 5-67
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 ························································································6-4
6.2.3 位置模式控制架构 6-5
6.2.4 位置 S 形平滑器··························································································6-6
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 位置回路增益调整 ····················································································· 6-10
6.2.9 位置模式低频抑振 ····················································································· 6-12
6.3 速度模式 614
6.3.1 速度命令的选择 614
如何操作与设定
6
6.3.2 速度模式控制架构 ····················································································· 6-15
6.3.3 速度命令的平滑处理 ·················································································· 6-16
6.3.4 模拟速度命令比例器 ·················································································· 6-18
6.3.5 速度模式时序图 ························································································ 6-19
6.3.6 速度回路增益调整 ····················································································· 6-20
6.3.7 共振抑制单元 ··························································································· 6-22
6.4 扭矩模式 ······································································································ 6-24
6.4.1 扭矩命令的选择 ························································································ 6-24
6.4.2 扭矩模式控制架构 ····················································································· 6-25
6.4.3 扭矩命令的平滑处理 ·················································································· 6-25
6.4.4 模拟扭矩命令比例器 ·················································································· 6-26
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····················································································· 6-27
6.5.2 速度/扭矩混合模式····················································································· 6-28
6.5.3 扭矩/位置混合模式····················································································· 6-28
6.6 其他 ··········································································································· 6-29
6.6.1 速度限制的使用 ························································································ 6-29
6.6.2 扭矩限制的使用 ························································································ 6-29
6.6.3 模拟监控 ································································································· 6-30
6.7 全闭环 ········································································································· 6-31
6.7.1 硬件配置 ································································································· 6-32
6.7.2 控制架构 ································································································· 6-33
6.7.3 全闭环设定步骤 ························································································ 6-35
6.7.4 全闭环参数设定 ························································································ 6-36
6.7.4.1 辅助编码器方向设定············································································ 6-36
6.7.4.2 辅助编码器分辨率设定········································································· 6-39
6.7.4.3 电子齿轮设定····················································································· 6-41
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 ·································· 6-41
6.7.4.5 全/半闭环位置检测器误差的低通滤波器设定 ············································· 6-41
6.7.4.6 全/半闭环切换时误差清除功能设定 ························································· 6-42
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 6-44
6.7.4.8 设定全/半闭环切换 DI [0x0B]································································· 6-44
6.7.4.9 原点复归 Z 相来源 ·············································································· 6-45
6.7.4.10 检出器输出设定 ················································································ 6-46
6.7.4.11 上位机全闭环回授来源设定 ································································· 6-48
6.7.5 全闭环异警排除 ························································································ 6-49
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 ························································································7-5
7.1.2 PR 模式相关监视变量···················································································7-6
7.1.3 运动控制命令模式 ·······················································································7-9
7.1.3.1 原点复归模式·······················································································7-9
7.1.3.2 速度命令··························································································· 7-21
7.1.3.3 位置命令··························································································· 7-23
7.1.3.4 程序跳转命令····················································································· 7-26
7.1.3.5 写入命令··························································································· 7-28
7.1.3.6 分度位置命令····················································································· 7-30
7.1.3.7 基础数值运算····················································································· 7-34
7.1.4 PR 程序表示方法 ······················································································ 7-37
7.1.5 PR 命令触发方式 ······················································································ 7-44
7.1.6 PR 程序执行流程 ······················································································ 7-48
7.2 运动控制应用功能 ·························································································· 7-61
7.2.1 数据数组 ································································································· 7-61
7.3 电子凸轮(E-Cam) ··························································································· 7-64
7.3.1 主动轴信号来源 ························································································ 7-66
7.3.2 离合器的啮合与脱离 ·················································································· 7-69
7.3.3 电子凸轮齿轮比与曲线缩放 ········································································· 7-75
7.3.4 电子凸轮曲线 ··························································································· 7-77
7.3.5 电子凸轮与 PR 命令的迭加·········································································· 7-84
7.3.6 电子凸轮异常排除 ····················································································· 7-86
7.3.7 应用宏(Macro) ·························································································· 7-87
7.3.8 辅助功能 ································································································· 7-93
7
参数与功能
8.1 参数定义 ········································································································8-2
8.2 参数一览表 ·····································································································8-3
8.3 参数说明 ······································································································ 8-23
P0.xxx 监控参数····························································································· 8-23
P1.xxx 基本参数····························································································· 8-38
P2.xxx 扩充参数····························································································· 8-79
P3.xxx 通讯参数··························································································· 8-121
P4.xxx 诊断参数··························································································· 8-129
P5.xxx Motion 设定参数 ················································································· 8-137
P6.xxx PR 路径定义参数 ················································································ 8-174
P7.xxx PR 路径定义参数 ················································································ 8-197
P8.xxx PM 模块设定参数················································································ 8-217
PM.xxx 电机参数 ·························································································· 8-218
表 8.1 数字输入(DI)功能定义表 ········································································ 8-234
表 8.2 数字输出(DO)功能定义表······································································· 8-242
表 8.3 监视变量说明 ······················································································ 8-248
绝对型伺服系统
9.1 电池盒及绝对型线材 ·························································································9-3
9.1.1 电池规格 ·································································································9-3
9.1.2 电池盒规格 ······························································································9-5
9.1.3 绝对型编码器连接线 ··················································································9-6
9.1.4 电池盒连接线 ···························································································9-8
9.2 安装 ·············································································································9-9
9.2.1 安装电池盒于伺服系统 ···············································································9-9
9.2.2 如何安装及更换电池 ················································································ 9-11
9.3 系统初始化与操作流程····················································································· 9-14
9.3.1 系统初始化 ···························································································· 9-14
9.3.2 脉冲数值 915
9.3.3 PUU 数值 ······························································································ 9-16
9.3.4 绝对型原点坐标建立 ················································································ 9-17
9.3.4.1 使用 DI/DO························································································ 9-17
9.3.4.2 使用参数设定····················································································· 9-17
9.3.4.3 使用 PR 原点复归功能 ········································································· 9-17
9.3.5 读取绝对位置 9-18
9.3.5.1 使用 DI/DO 918
参数设定
8
9
9.3.5.2 使用通讯功能····················································································· 9-21
9.4 绝对型功能的相关参数、DI/DO 及异警一览表······················································· 9-22
直线电机与第三方电机
10.1 直线电机简介······························································································· 10-2
10.2 安装与配置·································································································· 10-3
10.2.1 直线电机安装注意事项············································································ 10-3
10.2.2 直线电机与旋转电机配置说明··································································· 10-6
10.2.2.1 脉冲型电机周边配置 ·········································································· 10-7
10.2.2.2 台达与第三方通讯型电机周边配置 ························································ 10-8
10.2.3 通讯型电机说明····················································································· 10-9
10.2.3.1 第三方通讯型电机 ············································································· 10-9
10.2.3.2 电机通讯格式支持表 ·········································································· 10-9
10.2.3.3 通讯型电机脚位说明 ········································································ 10-10
10.3 使用 ASDA-Soft 软件完成直线电机与第三方电机相关设定 ··································· 10-11
10.3.1 电机参数识别······················································································ 10-12
10.3.1.1 直线电机参数识别流程 ····································································· 10-13
10.3.1.2 旋转电机参数识别流程 ····································································· 10-19
10.3.2 直线电机方向设定················································································ 10-25
10.4 直线型编码器····························································································· 10-26
10.5 霍尔组件··································································································· 10-26
10.5.1 霍尔组件安装······················································································ 10-27
10.5.2 霍尔组件相序检查················································································ 10-28
10.6 直线电机相关参数设定················································································· 10-29
10.6.1 总重量 (动子+负载) ············································································· 10-29
10.6.2 电子齿轮比························································································· 10-29
10.6.3 极限设定···························································································· 10-29
10.6.4 上电初始磁场侦测电流·········································································· 10-30
10.6.5 过载增益···························································································· 10-31
EtherCAT 模式
11.1 基本配置····································································································· 11-3
11.1.1 硬件相关配置························································································ 11-3
11.1.2 ESI 档案汇入 ························································································ 11-7
11.1.3 EtherCAT 模式的参数设定 ······································································· 11-8
11.2 通讯功能··································································································· 11-12
11.2.1 规格 1112
11.2.2 同步模式···························································································· 11-14
11.2.2.1 伺服驱动器同步模式 ···································································· 11-14
11.2.2.2 同步模式选择 ············································································· 11-15
10
11
11.2.2.3 同步时钟设定 ············································································· 11-15
11.2.3 状态机 (EtherCAT State Machine)··························································· 11-16
11.2.4 PDO 映射配置····················································································· 11-18
11.2.4.1 默认 PDO 映射配置 ····································································· 11-18
11.2.4.2 设定 PDO 映射 ··········································································· 11-20
11.2.4.3 PDO 映射物件············································································ 11-21
11.2.4.4 SDO 异常码 (Abort Code) ···························································· 11-22
11.3 EtherCAT 操作模式 ····················································································· 11-23
11.3.1 Profile Position Mode (位置规划模式)······················································· 11-23
11.3.2 Profile Velocity Mode (速度规划模式) ······················································· 11-27
11.3.3 Profile Torque Mode (扭矩规划模式) ························································ 11-29
11.3.4 Homing Mode (原点复归模式) ································································ 11-31
11.3.5 Cyclic Synchronous Position Mode (周期同步位置模式) ······························· 11-33
11.3.6 Cyclic Synchronous Velocity Mode (周期同步速度模式)································ 11-35
11.3.7 Cyclic Synchronous Torque Mode (周期同步扭矩模式)································· 11-37
11.3.8 Touch Probe (位置抓取功能与位置抓取状态) ············································· 11-39
11.4 Object Dictionary 对象字典············································································ 11-43
11.4.1 对象详述 (Specifications for Objects)······················································· 11-43
11.4.2 物件一览表························································································· 11-44
11.4.3 对象详细数据······················································································ 11-46
11.4.3.1 OD 1XXXh 通讯对象群组······························································ 11-46
11.4.3.2 OD 2XXXh 伺服参数群组······························································ 11-53
11.4.3.3 OD 6XXXh 通讯对象群组······························································ 11-55
11.5 疑难解答·································································································· 11-102
11.5.1 EtherCAT 诊断系统 ·············································································11-102
11.5.2 错误异警码························································································ 11-103
异警排除
12.1 异警一览表12-3
通用类········································································································12-3
STO 相关类·································································································12-6
通讯类········································································································12-6
运动控制命令类····························································································12-7
非台达通讯类·······························································································12-9
12.2 异警原因与处置·························································································· 12-10
如何排除问题
12
规格
A.1 ASDA-H3 系列 ······························································································· A-3
A.1.1 电源模块规格·························································································· A-3
A.1.2 驱动模块规格·························································································· A-4
A.1.3 伺服驱动器外型尺寸················································································· A-6
A.1.3.1 电源模块 ······················································································· A-6
A.1.3.2 驱动模块 ······················································································· A-8
A.2 ECM-B3 系列伺服电机 ····················································································A-11
A.2.1 ECM-B3 系列伺服电机规格·······································································A-13
A.2.1.1 400V 系列 ····················································································A-13
电机 180 框号系列 ·········································································A-13
电机 220 框号系列 ·········································································A-15
A.2.2 B3 电机扭矩特性 (T-N 曲线)······································································A-17
A.2.2.1 400V 系列 ····················································································A-17
电机 180 框号系列 ·········································································A-17
电机 220 框号系列 ·········································································A-17
A.2.3 B3 电机额定值降低率···············································································A-18
A.2.4 过负载之特性·························································································A-19
A.2.5 ECM-B3 伺服电机外型尺寸·······································································A-20
A.2.5.1 400V 系列 ····················································································A-20
电机 180 框号系列 ·········································································A-20
电机 220 框号系列 ·········································································A-21
A.3 ECM-J3 系列伺服电机·····················································································A-22
A.3.1 ECM-J3 系列伺服电机规格 A-24
A.3.1.1 400V 系列 ····················································································A-24
电机 200 框号系列 ·········································································A-24
电机 260 框号系列 ·········································································A-26
A.3.2 J3 电机扭矩特性 (T-N 曲线) ······································································A-28
A.3.2.1 400V 系列 ····················································································A-28
电机 200 框号系列 ·········································································A-28
电机 260 框号系列 A-29
A.3.3 ECM-J3 伺服电机外型尺寸 A-30
A.3.3.1 400V 系列 ····················································································A-30
电机 200 框号系列 ·········································································A-30
电机 260 框号系列 ·········································································A-31
A.3.4 过负载特性····························································································A-32
附录
A
配件
B.1 动力接头 ······································································································· B-2
B.1.1 F180 4.5 kW(含)以下电机 ············································································ B-2
B.1.2 F180 5.5 kW(含)以上与 F220 电机································································· B-3
B.1.3 B3 系列 F100 ~ F220 电机抱闸接头 ······························································· B-4
B.2 动力线 ·········································································································· B-5
B.2.1 F180 4.5 kW(含)以下电机 ············································································ B-5
B.2.2 F180 5.5 kW(含)以上与 F220 电机································································· B-7
B.2.3 F180 ~ F220 电机抱闸线 ············································································· B-9
B.3 编码器接头 ···································································································B-11
B.3.1 F180 ~ F220 电机 ·····················································································B-11
B.4 增量型编码器连接线 ·······················································································B-13
B.4.1 F180 ~ F220 电机 ·····················································································B-13
B.5 绝对型编码器连接线 ·······················································································B-15
B.5.1 F180 ~ F220 电机 ·····················································································B-15
B.6 电池盒连接线 ································································································B-17
B.7 绝对型电池盒 ································································································B-18
B.8 CN1 连接器端子 ····························································································B-19
B.9 CN1 快速接头 ·······························································································B-19
B.10 CN1 端子台模块···························································································B-20
B.11 CN4 Mini USB 通讯线模块··············································································B-21
B.12 RS-485 终端电阻··························································································B-22
B.13 直流电压总线配件接头···················································································B-22
B
(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注意事项及铭牌与型号相关说明，使用者可通过
H3 与电机机种对应参照表搜寻适合的电机。
1.1 产品型号对照····················································································· 1-2
1.1.1 铭牌说明····················································································· 1-2
1.1.2 型号说明····················································································· 1-5
1.1.2.1 电源模块 ··············································································· 1-5
1.1.2.2 驱动模块 ··············································································· 1-6
1.1.2.3 ECM-B3 系列伺服电机 ····························································· 1-7
1.1.2.4 ECM-J3 系列伺服电机······························································ 1-9
1.2 ASDA-H3 选型说明 ··········································································· 1-11
1.2.1 基本组成说明 ············································································· 1-11
1.2.2 驱动模块与电机匹配表 ································································· 1-12
1.2.3 各模块选型需求 ·········································································· 1-13
1.2.4 H3 选型流程 ·············································································· 1-14
1.3 ASDA-H3 各部名称 ··········································································· 1-16
1.3.1 电源模块··················································································· 1-16
1.3.2 驱动模块··················································································· 1-17
1
产品型号说明ASDA-H3
1-2
1
1.1 产品型号对照
1.1.1 铭牌说明
ASDA-H3 系列
电源模块铭牌说明
产品型号
功率规格
输入电源规格
生产管制序号与条码
韧体版本
MODEL: ASD-H3-PM04F43-R
INPUT:
OUTPUT: 537-679 VDC
POWER: 45kW
MAC ADDRESS: XXXXXXXXXXXX
SN: H3PM04F0W23010001
X.XX
USE PROPER GROUNDING TECHNIQUES
No.18,Xinglong Rd.,Taoyuan City 330477
380-480V 3PH
50/60Hz 85A
MADE IN XXXXX
输出电源规格
注：以上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
H3PM04F0 W 23 01 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 (23：2023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)
ASDA-H3产品型号说明
1-3
1
驱动模块铭牌说明
产品型号
功率规格
输入电源规格
生产管制序号与条码
韧体版本
MODEL: ASD-H3-DM0454S-E
INPUT:
OUTPUT: 200V 0- 500Hz 13A/ Axis
POWER: 4.5kW
MAC ADDRESS: XXXXXXXXXXXX
SN: H3D045S0W23010001
X.XX
USE PROPER GROUNDING TECHNIQUES
No.18,Xinglong Rd.,Taoyuan City 330477
537-679VDC
MADE IN XXXXX
输出电源规格
注：以上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
H3D045S0 W 23 01 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 (23：2023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-H3
1-4
1
ECM-B3 系列伺服电机
铭牌说明
BCL2P7JBW16070001
No. 18, Xinglong Rd.,
Taoyuan City 330477
ECM-B3M-L21845RS1
VAC400 A13.3 Ins.A
1500 13.3 4.5
产品型号
电机输入电源规格
电机输出规格
条码及生产管制序号
注：以上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
BCL2P7JB W 16070001
(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 (一周内制造序号，从0001开始)
ECM-J3 系列伺服电机
铭牌说明
JCLAR6JAY23150011
MADE IN CHINA
ECM-J3M-LA202FRS0
VAC220 A52.2 Ins.F
1500 159.5 25
DELTA Electronics,Inc
产品型号
电机输入电源规格
电机输出规格
条码及生产管制序号
注：以上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
JCLAR6JAY 23 15 0011
(1) (2) (3) (4) (1) 机种型号
(2) 生产年份 (23：2023年)
(3) 生产周次 (从1至52)
(4) 制造序号 (一周内制造序号，从0001开始)
ASDA-H3产品型号说明
1-5
1
1.1.2 型号说明
1.1.2.1电源模块
ASD – H3 – PM 04F 43 – R
(1) (2) (3) (4) (5) (6)
(1) 产品名称
ASD：AC Servo Drive
(2) 产品系列
H3：H3 系列
(3) 模块
PM：电源模块
(4) 额定输出功率
(5) 输入电压及相数
43：400V，三相
(6) 机种代码
R：RS-485
代号 规格 代号 规格
04F 45 kW 11A 110 kW
产品型号说明ASDA-H3
1-6
1
1.1.2.2 驱动模块
ASD – H3 – DM 045 4 S – E S
(1) (2) (3) (4) (5) (6) (7) (8)
(1) 产品名称
ASD：AC Servo Drive
(2) 产品系列
H3：H3 系列
(3) 模块
DM：驱动模块
(4) 额定输出功率
(5) 输入电压及相数
4：400V
(6) 支援轴数
S：单轴
(7) 机种代码
E：EtherCAT
(8) 特别码
S：Hiperface & Resolver 编码器功能*
注：预计新增功能。
代号 规格 代号 规格 代号 规格
045 4.5 kW 02A 20 kW 05F 55 kW
075 7.5 kW 03A 30 kW 07A 70 kW
01F 15 kW 04F 45 kW 08F 85 kW
ASDA-H3产品型号说明
1-7
1
1.1.2.3 ECM-B3 系列伺服电机
ECM-B3 系列伺服电机
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)(11)
ECM - B 3 M - L 2 18 45 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
M：中惯量
(5) 额定电压及转速
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。
(7) 电机框架尺寸
(8) 额定输出功率
代号 规格 代号 规格
18 180 mm 22 220 mm
代号 规格 代号 规格
30 3 kW 75 7.5 kW
45 4.5 kW 1B 11 kW
55 5.5 kW 1F 15 kW
产品型号说明ASDA-H3
1-8
1
(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
3：标准轴径 (42 mm)注，标准接头
注：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。
无抱闸，有油封 有抱闸，有油封
键槽 (带螺丝固定孔) R S
ASDA-H3产品型号说明
1-9
1
1.1.2.4 ECM-J3 系列伺服电机
ECM-J3 系列伺服电机
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
ECM - J 3 M - L A 20 1K R S 0
(1) 产品名称
ECM：电子换相式电机
(2) 驱动型态
J：一般泛用型伺服电机
(3) 世代别
3：第三世代产品
(4) 惯量别
M：中惯量
(5) 额定电压及转速
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)
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 代号 规格
20 200 mm 26 260 mm
产品型号说明ASDA-H3
1-10
1
(8) 额定输出功率
(9) 轴径型式和油封
(10) 轴径规格与接头型式
S：标准轴径，标准接头
(11) 特别码
0：标准品
代号 规格 代号 规格
1D 13 kW 3D 33 kW
1G 16 kW 3K 39 kW
1H 17 kW 4A 40 kW
1K 19 kW 4J 48 kW
2B 21 kW 5B 51 kW
2F 15 kW 6A 60 kW
3B 31 kW 7E 74 kW
无抱闸
无油封
有抱闸
无油封
无抱闸
有油封
有抱闸
有油封
键槽 (带螺丝固定孔) - - R -
ASDA-H3产品型号说明
1-11
1
1.2 ASDA-H3 选型说明
1.2.1 基本组成说明
以下仅介绍 H3 系统的基本组成，选型流程请参考 1.2.4 节。
一组 H3 系统需要由一个电源模块与一个或多个驱动模块所组成，各模块缺一不可。
注：若欲将电源模块安装于中间，并将驱动模块装配于电源模块两侧，请洽询经销商。
安装范例
PM DM DM DM DM
模块 说明 安装限制*
电源模块
(PM)
依据驱动模块需求选择适合的电源模块。 置于整个 H3 系统的最左侧或最右侧。
驱动模块
(DM)
1. 依据电机额定及最大电流选择驱动模块。
2. 驱动器站号依据网络串接顺序。
若使用多个驱动模块时，将功率最大的驱动
模块连接至电源模块，驱动模块之间再依据
功率，由大到小依序组装。
产品型号说明ASDA-H3
1-12
1
1.2.2 驱动模块与电机匹配表
ECM-B3 系列伺服电机
伺服电机 驱动模块
惯量类型
额定 /
最大转速
(rpm)
输出
(kW) 型号
转子惯量
(× 10-4
kg·m2
)
无抱闸 / 有抱闸
额定 / 最大扭矩
(N·m) 型号
中惯量
1500 /
3000 3 ECM-B3M-L 2 1830 3 4 5 53.63 / 54.9 19.1 / 57.29 ASD-H3-DM0454S-E
1500 /
4000
4.5 ECM-B3M-L 2 1845 3 4 5 67.73 / 69.15 28.65 / 71.6 ASD-H3-DM0454S-E
5.5 ECM-B3M-L 2 1855 3 4 5 98.88 / 100.1 35.01 / 105 ASD-H3-DM0754S-E
7.5 ECM-B3M-L 2 1875 3 4 5 134.95 / 136.24 47.75 / 119 ASD-H3-DM0754S-E
11 ECM-B3M-L 2 221B 3 4 5 302.2 / 303.1 70.03 / 175 ASD-H3-DM01F4S-E
15 ECM-B3M-L 2 221F 3 4 5 400 / 400.9 95.49 / 238.5 ASD-H3-DM01F4S-E
注：伺服电机型号中之 2 为编码器型式、 3 为抱闸或键槽 / 油封型式、 4 为轴径规格与接头型式、 5 为特别码。
ECM-J3 系列伺服电机
伺服电机 驱动模块
惯量类型 额定 / 最大转速
(rpm)
输出
(kW) 型号
转子惯量
(× 10-4
kg·m2
)
无抱闸
额定 / 最大扭矩
(N·m) 型号
中惯量
1500 / 1950 13 ECM-J3M-LA201DRS0 90.3 83 / 240 ASD-H3-DM01F4S-E
1500 / 1950 16 ECM-J3M-LA201GRS0 117.0 103 / 297 ASD-H3-DM02A4S-E
2000 / 2450 17 ECM-J3M-KA201HRS0 90.3 85 / 240 ASD-H3-DM02A4S-E
1500 / 1950 19 ECM-J3M-LA201KRS0 133 124.5 / 364.6 ASD-H3-DM02A4S-E
2000 / 2450 21 ECM-J3M-KA202BRS0 117 103 / 300 ASD-H3-DM03A4S-E
1500 / 1950 25 ECM-J3M-LA202FRS0 175.0 159.5 / 476 ASD-H3-DM03A4S-E
2000 / 2450 25 ECM-J3M-KA202FRS0 133.0 120 / 360 ASD-H3-DM03A4S-E
2000 / 2450 31 ECM-J3M-KA203BRS0 175.0 150 / 483 ASD-H3-DM05F4S-E
1500 / 1950 33 ECM-J3M-LA263DRS0 326 215.5 / 420.5 ASD-H3-DM04F4S-E
1500 / 1950 39 ECM-J3M-LA263KRS0 416 252.6 / 560 ASD-H3-DM04F4S-E
2000 / 2450 40 ECM-J3M-KA264ARS0 326 193.5 / 419.6 ASD-H3-DM04F4S-E
2000 / 2450 48 ECM-J3M-KA264JRS0 416 232 / 518.7 ASD-H3-DM05F4S-E
1500 / 1950 51 ECM-J3M-LA265BRS0 505 325 / 698.8 ASD-H3-DM05F4S-E
1500 / 1950 60 ECM-J3M-LA266ARS0 588 382 / 840 ASD-H3-DM07A4S-E
2000 / 2450 60 ECM-J3M-KA266ARS0 505 290 / 693 ASD-H3-DM07A4S-E
2000 / 2450 74 ECM-J3M-KA267ERS0 588 355.1 / 832.1 ASD-H3-DM08F4S-E
ASDA-H3产品型号说明
1-13
1
1.2.3 各模块选型需求
电源模块
驱动模块
型号 功率
ASD-H3-PM04F43-R 45 kW
ASD-H3-PM11A43-R 110 kW
型号 功率 轴数 总功率 (功率 x 轴数)
ASD-H3-DM0454S-E□ 4.5 kW 1 4.5 kW
ASD-H3-DM0754S-E□ 7.5 kW 1 7.5 kW
ASD-H3-DM01F4S-E□ 15 kW 1 15 kW
ASD-H3-DM02A4S-E□ 20 kW 1 20 kW
ASD-H3-DM03A4S-E□ 30 kW 1 30 kW
ASD-H3-DM04F4S-E□ 45 kW 1 45 kW
ASD-H3-DM05F4S-E□ 55 kW 1 55 kW
ASD-H3-DM07A4S-E□ 70 kW 1 70 kW
ASD-H3-DM08F4S-E□ 85 kW 1 85 kW
产品型号说明ASDA-H3
1-14
1
1.2.4 H3 选型流程
H3 选型顺序如以下流程图所示。
开始
确认负载条件，
选择对应的电机
依据电机额定电流与最大电流
选择驱动模块
依据电机功率总和
选择电源模块
电源模块功率 ≥
电机功率总和*100% ?
选择大一阶的电源模块
电源模块铜排载流能力 ≥ 所有
电机额定电流总和
否
是
计算直流电压汇流排的电流
是否需要外接制动单元
或是回生模块 直流电压汇流排配件接头选型
机柜设计
结束
否
是
ASDA-H3产品型号说明
1-15
1
详细步骤如下说明：
步骤 说明
1
电机选型：以橡塑行业为例，设备机构所需的电机与数量如下。
电机功率 (kW) 电机型号 额定电流 (A) 最大电流 (A) 数量
48 ECM-J3M-KA264JRS0 93.5 277 1
11 ECM-B3M-LA221BR31 21.2 56.5 1
7.5 ECM-B3M-LA1875R31 22.1 56.68 1
3 ECM-B3M-LA1830RS1 9.1 29.45 1
2
驱动模块选型：依据电机的额定电流与最大电流选择驱动模块。
驱动模块型号 额定电流 (A) 最大电流 (A) 数量
ASD-H3-DM05F4S-E 107 290 1
ASD-H3-DM01F4S-E 31 91.5 2
ASD-H3-DM0454S-E 13 35 1
3
电源模块选型：电源模块功率 ≥ 所有电机的功率总和 * 100%
以此例而言，所有电机功率总和的计算方式如下。
[(48 kW * 1) + (11 kW * 1) + (7.5 kW * 1) + (3 kW * 1)] * 100% = 69.5 kW
因此需选择 110 kW 的电源模块 (型号：ASD-H3-PM11A43-R)。
4
计算直流电压总线的电流：电源模块铜排载流能力* ≥ 所有电机额定电流总和
注：请至 A.1.1 节查询电源模块铜排载流能力。
以此例而言，所有电机额定电流总和的计算方式如下。
(93.5 A * 1) + (21.2 A * 1) + (22.1 A * 1) + (9.1 A * 1) = 145.9 A
因为电机额定电流总和 (145.9 A) 小于 110 kW 的电源模块铜排载流能力 (250 A)，故确认可
以使用 110 kW 的电源模块 (型号：ASD-H3-PM11A43-R)。
5 确认是否需要外接抱闸或是回生模块，若是，请进行直流电压总线配件接头选型 (请参考附录
B)；若否，请跳至步骤 6。
6 进行机柜设计。
产品型号说明ASDA-H3
1-16
1
1.3 ASDA-H3 各部名称
1.3.1 电源模块
(1)
(2)
(3)
(5)
(4)
(6)
(7)
(8)
上视图
上视图
P CResistor
编号 名称 说明
(1) - 直流电压总线*1
(2)
CHARGE 电源指示灯
RUN 运转指示灯
ERROR 异常指示灯
(3) 站号旋钮 使用 CN3 RS-485 通讯时，可使用此旋钮进行电源模块站号设定
(4) RST 主回路电源；连接于三相电源 (380 ~ 480 VAC，50/60 Hz 电源)
(5) 接地螺丝 连接至电源地线
(6) CN3
RS-485 通讯端口：连接至相邻驱动模块，以进行电源模块状态数据传
输
(7) - 控制回路电源 (24 VDC)
(8) Resistor*2 P⊕、C 端连接外部回生电阻
注：
1. 请依据出线方式选择配件接头，相关型号请参考 B.13 节
2. 仅 45 kW 电源模块具备 Resistor 接口；110 kW 电源模块需搭配台达 VFD-B 动力制动抱闸模块。相关配线及安装请
参考 2.9 节。
ASDA-H3产品型号说明
1-17
1
1.3.2 驱动模块
CN2-1
CHARGE
ERR
(1) (4)
(2)
(3)
(5)
(6)
(7)
(8)
(9)
WARNING
CAUTION
(12)
(13)
(11)
(10)
(14)
下视图
上视图 下视图
上视图
编号 名称 说明
(1) - 直流电压总线
(2) - 七段显示器
(3) CHARGE 电源指示灯
(4) CN4 Mini USB 端口，连接至个人计算机
(5) CN6
EtherCAT 高速通讯端口：IN 连接至控制器 (主站) 或 前一台驱动模块 (前一
站)，OUT 连接下一台驱动模块 (下一站) 或无连接。
(6) CN1 输出/输入讯号端口：连接至可程控器 (PLC) 或控制 I/O
(7) CN5 位置反馈讯号端口
(8) CN2-1 编码器端口：连接至伺服电机上的编码器接头
(9) 接地螺丝 连接至电源地线及电机地线
(10) CN10 STO (Safe Torque Off)
(11) CN3
RS-485 通讯端口：连接至电源模块并串接至下一台驱动模块，或相邻驱动模
块间互相串接，以进行电源模块状态数据传输
(12) - 控制回路电源 (24 VDC)
(13) CN2-2* Hiperface & Resolver 位置反馈讯号端口
(14) UVW 驱动模块电流输出；连接至电机动力线 (U、V、W)
注：预计新增功能。
产品型号说明ASDA-H3
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；
另外，本章节也说明了断路器与保险丝建议规格、交流电抗器、零相电抗器、电磁干扰
滤波器、回生电阻与制动单元的选型介绍。
2.1 储存环境条件···················································································· 2-2
2.2 安装环境条件···················································································· 2-3
2.3 安装方向·························································································· 2-4
2.4 模块安装 2-5
2.4.1 机柜内安装空间 2-5
2.4.2 基板安装方式 2-7
2.5 断路器、电磁接触器与保险丝建议规格表 ················································ 2-8
2.6 交流电抗器······················································································· 2-9
2.6.1 安装方式 ··················································································· 2-9
2.6.2 交流电抗器选用规格 ···································································· 2-9
2.7 零相电抗器 210
2.7.1 安装方式 210
2.7.2 安装注意事项 ··········································································· 2-10
2.7.3 零相电抗器型号与接线方式 ··························································2-11
2.8 EMC 安装条件 ················································································ 2-13
2.8.1 电磁干扰滤波器 (EMI Filters) ······················································ 2-14
2.9 回生电阻与制动单元的选择方法 216
2.10 电磁抱闸的使用 2-22
2.11 线材的使用 2-24
2.12 电机安全预防措施 ·········································································· 2-25
2.12.1 电机动作、状态的故障分析排除表··············································· 2-27
2.12.2 电机安装方向注意事项······························································ 2-28
2.12.3 使用油封电机的注意事项··························································· 2-29
2.12.4 电机安装对手件的注意事项 2-30
2.12.5 电机油水对策注意事项 2-32
2.12.6 抑制伺服电机温升的措施··························································· 2-33
2
安装ASDA-H3
2-2
2
2.1 储存环境条件
本产品在安装之前必须置于其包装箱内，若暂不使用，为了使该产品能够符合本公司的保固范围
及日后的维护，储存时务必注意下列事项：
请将产品放置在通风良好之场所。
H3 储存环境温度必须在 -25°C 到 +70°C 范围内。
H3 储存位置的相对湿度必须在 5%到 90%范围内，且无结露。
ECM-B3 电机储存环境温度必须在 -20°C 到 +80°C 范围内。
ECM-J3 电机储存环境温度必须在 -10°C 到 +50°C 范围内。
避免将产品存放在环境温度、相对湿度或振动超过产品规格的场所。
避免将产品存放在容易溅到水、油、化学液体的场所。
避免将产品存放在高磁场、强电场的场所。
避免将产品存放在腐蚀性气体或可燃性气体的场所。
避免将产品存放在容易结露的场所。
避免将产品存放在含有盐分、灰尘、金属微粒的场所。
避免将产品存放在阳光直射的场所。
避免将产品存放在含有易燃物的场所。
ASDA-H3安装
2-3
2
2.2 安装环境条件
安装时须具备的环境条件如下：
ECM-B3 电机使用环境温度为 -20°C ~ +60°C，若环境温度超过 40°C，请参阅 A.2.3 节
B3 电机额定值降低率。
ECM-J3 电机使用环境温度为 0°C ~ 40°C。
H3 使用环境温度为 0°C ~ 55°C。若环境温度超过 45°C，需将额定降载至 80%。
请将产品安装在通风良好之场所。
H3 安装位置的相对湿度必须在 5%到 90%范围内，且无结露。
避免将产品安装在环境温度、相对湿度或振动超过产品规格的场所。
避免将产品存放在环境温度、相对湿度或振动超过产品规格的场所。
避免将产品安装在容易溅到水、油、化学液体的场所。
避免将产品安装在高磁场、强电场的场所。
避免将产品安装在腐蚀性气体或可燃性气体的场所。
避免将产品安装在容易结露的场所。
避免将产品安装在含有盐分、灰尘、金属微粒的场所。
避免将产品安装在阳光直射的场所。
避免将产品安装在含有易燃物的场所。
H3 安装说明
若需长时间的运转，建议将环境温度维持在 45°C 以下，以确保产品性能。本产品需以垂直方向
装在配电箱里，且于配电箱上方安装风扇，使运转产生的热风顺利从箱内排出，并确保 H3 两侧
及下方距离机身 5 公分处温度不可超过 50°C，且驱动器上方 10 mm 处空气流速须达 2 m/s，远
离热源，其配电箱的大小及通风条件必须防止内部使用的电子装置过热。另外，请注意机器的震
动是否会影响配电箱的电子装置。
安装ASDA-H3
2-4
2
2.3 安装方向
注意事項：
安装方向必须依图面所示，请将 H3 垂直安装于墙面，否则会造成故障。
为了使冷却循环效果良好，安装 H3 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 H3 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。
预留散热空间：
请依 2.4.1 节建议的距离安装 H3，并于配电箱中安装冷却风扇，以确保配电箱内的温度符合规
格。
请尽量避免上下排列使用，下方 H3 运转时所产生的热气上升，易造成上方 H3 的温度增加。
若要双排安装，请参阅 2.4.1 节。
正确的方向
Air Flow
Air Flow Base
错误的方向
Air Flow Air Flow
ASDA-H3安装
2-5
2
2.4 模块安装
2.4.1机柜内安装空间
机柜内安装方式可为单排安装与双排安装。一组 H3 系统需要由一个电源模块与一个或多个驱动
模块所组成，为避免运输过程造成模块损坏，安装时须将各模块紧密排列。双排安装时，可选择
安装隔热导流板。
注：安装示意图之间隔距离非等比例尺寸，请以文字批注为准。
单排安装
min.
100 mm
(4 inch)
min.
100 mm
(4 inch)
min.
50 mm
(2 inch)
min.
50 mm
(2 inch)
安装ASDA-H3
2-6
2
双排安装
S1
S2
S3
≥ 50 mm 热空气
冷空气
隔热导流板
机柜内安装最小间距如下表所示：
建议安装距离
(mm)
单一模块宽度 (mm)
100 200 300
S1 ≥ 300 ≥ 300 ≥ 300
S2 ≥ 300 ≥ 300 ≥ 300
S3 ≥ 300 ≥ 300 ≥ 300
注：
1. 在一个配电箱内同时安装多台电源模块时，若于外部使用风扇往机柜进风口吹风，会导致内部的风量分配产生混乱，进
而影响整体散热效果，故请在机柜内部安装风扇以将热气排出。
2. 若上下排需要串接共直流母线，请在上排 H3 伺服系统的直流电压总线使用配件接头，并接线至下排 H3 伺服系统的
直流电压总线。相关配件接头方向与型号，请参阅下表。
型号 直流电压总线配件接头方向
ACS3-CNTBDC2A 上方出线
ACS3-CNTBDC2L 左边出线
ACS3-CNTBDC2R 右边出线
ASDA-H3安装
2-7
2
2.4.2 基板安装方式
基板设计注意事项：
1. 基板横向上下边缘折弯加强，如图(A)处。
2. 基板背面焊接横向加强梁，如图(B)处
(A)
(B)
(A)
3. 将模块沿基板顶部安装孔排列。在基板上标出欲钻孔的位置 (请参考 A.1.3 节)，并钻出可让
固定螺丝锁附牢固的螺丝孔。
安装ASDA-H3
2-8
2
2.5 断路器、电磁接触器与保险丝建议规格表
主回路电源 (R、S、T)
驱动器型号 断路器 电磁接触器 保险丝 (Class T)
ASD-H3-PM04F43-R 160 A 160 A JJS-200
ASD-H3-PM11A43-R 300 A 300 A JJS-400
注：
1. 操作模式：一般模式。
2. 驱动器若有加装漏电断路器以作为漏电故障保护时，为防止漏电断路器误动作，请选择感度电流在 200 mA 以上，
动作时间为 0.1 秒以上者。
3. 由于系统地线可能混有直流电，因此仅能选用 B 型 (时间延迟型) 的漏电断路器 (RCD)。
4. 使用 UL / CSA 承认之保险丝与断路器。
5. 若国家机关有规范感度电流与最大故障回路阻抗，请遵照国家规范；若无规范，则请遵照下表之最大故障回路阻抗。
驱动器型号
最大故障回路阻抗
TN 系统 TT 系统
ASD-H3-PM04F43-R 0.147 Ω 220 Ω
ASD-H3-PM11A43-R 0.134 Ω 220 Ω
ASDA-H3安装
2-9
2
2.6 交流电抗器
2.6.1安装方式
将交流输入电抗器安装于三相电源输入侧。
E_R
E_S
E_T
AC input filter
Rectifier IGBT
Motor
2.6.2 交流电抗器选用规格
以下为电源模块所建议搭配的交流电抗器规格。
电源模块型号 交流电抗器 (3%) 型号 交流电抗器 (3%) 电感值
ASD-H3-PM04F43-R
B86923L0150S711
(台达型号：DR150AP162) 0.162 mH
ASD-H3-PM11A43-R
B86923L0260S711
(台达型号：DR260AP098) 0.098 mH
注：关于交流电抗器的尺寸规格，请至该厂牌官网查询。
安装ASDA-H3
2-10
2
2.7零相电抗器
在驱动模块的 UVW 输入端或电机的 UVW 输出端加装零相电抗器可降低干扰，由于通过动力线
的电流较大，必须注意磁芯饱和的问题。
用于动力线的零相电抗器需承受较大的负载电流，故选用复合磁粉芯所制成的零相电抗器，其有
更高的抗饱和强度，且磁芯的电阻率也比一般金属磁性材料更高，因此可以应用在较高的频段。
另外，透过增加匝数的方式，也可达到高阻抗的效果。
2.7.1安装方式
安装时请将线材穿过一个(或以上)的零相电抗器，并选用适合的缆线种类，包含耐压、耐流、绝
缘等级及线径粗细等条件。配线时请勿将地线穿过零相电抗器，只须穿过电机线及电源线。
安装时，尽量将零相电抗器靠近驱动器输出侧，可参考单匝零相电抗器安装示意图；如线径足以
绕多匝，也可使用多匝零相电抗器，绕越多匝抑制噪声的效果越佳。相关配线请见下图：
R/L1
S/L2
T/L3
U
V
W
PE
GROUND
SHIELD
Zero Phase Reactor
U
V
W
MOTOR
PE
GROUND
SHIELD
使用屏蔽线安装单匝零相电抗器
MOTOR
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
电源
Zero Phase Reactor
零相电抗器多匝安装示意图
2.7.2 安装注意事项
将零相电抗器安装在驱动模块的输出端子(U、V、W)，可降低电磁辐射及承载应力，驱动模块所
需的零相电抗器数量取决于配线长度和驱动器电压。正常操作下，零相电抗器的温度必须低于
85°C，但是当零相电抗器的运行达到饱和时，其温度就会升高并超过 85°C，此时请增加零相电
抗器的数量，以避免零相电抗器达到饱和。
ASDA-H3安装
2-11
2
2.7.3 零相电抗器型号与接线方式
各模块所适用之台达零相电抗器如下表。
模块 模块型号 零相电抗器型号
电源模块 (PM)
ASD-H3-PM04F43-R RF002X00A
T60006L2160V066
ASD-H3-PM11A43-R RF300X00A
驱动模块 (DM)
ASD-H3-DM08F4S-E□ RF300X00A
ASD-H3-DM07A4S-E□ RF300X00A
ASD-H3-DM05F4S-E□ RF300X00A
ASD-H3-DM04F4S-E□ RF002X00A
T60006L2160V066
ASD-H3-DM03A4S-E□ RF002X00A
T60006L2160V066
ASD-H3-DM02A4S-E□
ASD-ACFC7K00
RF004X00A
T60006L2050W565
ASD-H3-DM01F4S-E□
ASD-ACFC7K00
RF004X00A
T60006L2050W565
ASD-H3-DM0754S-E□
ASD-ACFC7K00
RF008X00A
T60006L2040W453
ASD-H3-DM0454S-E□
ASD-ACFC7K00
RF008X00A
T60006L2040W453
零相电抗器型号 UVW 建议线径 接线方式 最大接线数量
RF008X00A ≤ 8 AWG ≤ 8.37 mm2 Diagram A 单芯线*3
T60006L2040W453 ≤ 8 AWG ≤ 8.37 mm2 Diagram B 或四芯线*1
RF004X00A ≤ 1 AWG ≤ 42.41 mm2 Diagram A 单芯线*3
T60006L2050W565 ≤ 1 AWG ≤ 42.41 mm2 Diagram B 或四芯线*1
RF002X00A ≤ 600 MCM ≤ 304 mm2 Diagram A 单芯线*3
T60006L2160V066 ≤ 600 MCM ≤ 304 mm2 Diagram B 或四芯线*1
RF300X00A ≤ 350 MCM ≤ 185 mm2 Diagram A
单芯线*12
或四芯线*3
注：
1. 最大接线数量请参考主回路端子信息。
2. 关于零相电抗器的尺寸规格，请至台达官网查询。
3. 接线方式请见下页说明。
