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ASDA-W3 系列伺服系统应用技术手冊
i
序言
感谢您使用本产品，本使用手册提供 ASDA-W3 系列伺服驱动器 (简称 W3) 及 ECM-B3 与 ECM-A3 系列伺服
马达的相关信息。
ASDA-W3 产品特色
W3 可依据个人需求搭配驱动模块数量，目前最多支持 12 轴。而新研发的一站多轴设计，不仅可以
减少线材，也能节省配电箱内部的空间。台达开发的控制算法，可有效克服机构上刚性不足或挠性
结构的问题。自动调机可供无控制理论背景的操作人员轻松完成调机，同时搭配便利的增益调整功
能，可提高驱动器的性能。
如何使用本操作手册
您可视本手册为学习使用本产品之参考信息，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。
禁止转载本手册的部分或全部内容。
本手册更新时，恕不另行通知，请以台达网站最新公布信息为主。
ii
安全注意事项
ASDA-W3 系列为高解析开放型 (Open type) 的交流伺服驱动器，可使用于工业应用场合上，且建议安装于使
用手册中之屏蔽式配线 (电) 箱环境 (驱动器、线材及马达都必须安装于符合 UL 50 环境等级 1 的安装环境最
低要求规格)。
在储存、接收检验、搬运、安装、配线、操作、保养及检查时，应随时注意以下安全注意事项。
标志「禁止」、「警告」及「危险」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。
储存注意
请勿将产品堆积过高，以免产品掉落导致人员受伤。
WARNING
请将产品放置在通风良好之场所。
W3 系列伺服驱动器储存环境温度必须在 -20°C 到 +65°C 范围内。
A3 马达储存环境温度必须在 -10°C 到 +80°C 范围内。
B3 马达储存环境温度必须在 -20°C 到 +80°C 范围内。
W3 系列伺服驱动器与马达储存位置的相对湿度必须在 0%到 90%范围内，且无结露。
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。
避免将产品存放在含有易燃物的场所。
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。
iii
接收检验
请照指定方式使用 W3 系列伺服驱动器及伺服马达，否则可能导致火灾或设备故障。
搬运注意
请根据产品的重量，以正确的方式搬运。
W3 系列伺服驱动器及马达皆为精密仪器，请勿摔落或重击产品。
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。
安装时请注意机器边角的锐利部分，以避免受伤。
请遵守安装方向。
请在符合规格的环境条件下储存与操作。
请勿让异物进入本产品的风扇与散热孔。
请将产品安装在无粉尘污染之配电箱中。
WARNING
W3 与马达安装位置的相对湿度必须在 0%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。
避免将产品安装在含有腐蚀性气体或可燃性气体的场所。
避免将产品安装在含有易燃物的场所。
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。
配线注意
请将接地保护端子连接到 class-3 (100Ω 以下) 接地系统，接地不良可能造成触电或火灾。
请勿连接三相电源至 U、V、W 马达输出端子，否则可能造成人员受伤或火灾。
伺服驱动器的输出 U、V、W 与马达端的 U、V、W 两者间不可使用电磁接触器。
请压紧电源及马达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。
不得在开启电源情况下改变配线，否则可能造成人员触电或受伤。
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马达。
请依驱动器适用电压配置正确的电源，否则会导致产品故障或造成火灾。
即使关闭电源，伺服驱动器内部仍然可能会滞留高电压，请确认「CHARGE」指示灯熄灭以
后，再进行检查作业。
请依照手册的数据进行配线。
请使用台达线材或相同等级与规范的线材进行配线，避免危险事件发生。
iv
主电路配线
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。
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、编码器反馈线，请使用多股绞合线以及多芯绞合整体隔离线，且配线长度须符
合手册规范。
主电路端子座配线
WARNING
单一端子座仅配置一根电线。
配线时，请不要使芯线与邻近的电线短路。
上电之前，请确实检查配线是否正确。
操作注意
STOP 当马达运转时，禁止接触任何旋转中的马达零件，否则可能造成人员受伤。
为避免意外事故，第一次试运转时，请卸下所有机构，使其在马达无负载状态下进行。
在伺服马达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，测试伺服马达是否正常运作，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。
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，请确保马达轴心保持静止，不会因机构惯性或其它因素而转动。
机械设备开始运转前，需确认运转范围中无任何人员。
v
保养及检查
STOP
禁止接触伺服驱动器及伺服马达内部，否则可能造成触电。
电源启动时，禁止拆下驱动器面板，否则可能造成触电。
电源关闭后，不得接触接线端子，残余电压可能会造成触电，请等待「CHARGE」指示灯熄
灭后才可接触。
不得拆开伺服马达，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、修理及保养伺服驱动器以及伺服马达。
当「CHARGE」指示灯尚未熄灭时，不可拆卸或安装模块。
WARNING
更换新驱动器前，建议先备份参数至计算机，并将备份的参数复制至新驱动器，以免造成换
上新机后的运转方式与原先不同。
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。
vi
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。
认证信息
获得认证之产品将于铭牌上标示对应的认证标志，无标志之产品表示尚未符合相关规格。
安规证书请至台达官网下载中心下载或洽询台达。
伺服驱动器、伺服马达与其配件皆非中国强制性产品认证制度 (CCC) 的规范对象。
认证 规格
CE
EMC 指令 EN IEC 61800-3
低电压指令 EN 61800-5-1
UL* UL 标准 UL 61800-5-1
TUV*
机械指令
EN IEC 62061: 2021
EN 61800-5-2: 2017
EN ISO 13849-1: 2023
功能安全 IEC / EN 61508: 2010
功能安全 EMC
EN 61326-3-1: 2017
EN 61000-6-7: 2015
注：UL 与 TUV 认证申请中。
vii
检查及保养
环境条件：
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、马达与机柜的接地是否松脱。
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. 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。
viii
零件更换
环境条件：
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
马达
轴承 20,000 ~ 30,000 小时
油封 5,000 小时
电池盒 电池 请参考 9.1 节
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。
ix
手册用语
手册用语说明如下。
基本用语 说明
直线电机、(线) 直线马达。
旋马、(旋) 旋转型马达。
第三方马达 非台达通讯格式的马达。
W3 包含电源模块、驱动模块与控制模块的 W3 伺服驱动器。
F40、F80、F100、F130、F180、F220 F 为 Frame size 的意思，F40 代表框架尺寸为 40 mm 的马达。
2P、2C、4C 线材规格中的 P 为双绞线芯、C 为直通的线芯。
x
(此页有意留为空白)
目录
使用前
产品型号说明
1.1 开箱确认 ········································································································1-2
1.2 产品型号对照 ··································································································1-3
1.2.1 铭牌说明 ··································································································1-3
1.2.2 型号说明 ··································································································1-8
1.2.3.1 电源模块 ····························································································1-8
1.2.2.2 驱动模块 ····························································································1-9
1.2.2.3 控制模块 ·························································································· 1-10
1.2.2.4 空槽模块 ·························································································· 1-11
1.2.2.5 背板模块 ·························································································· 1-12
1.2.2.6 ECM-A3 系列伺服马达 ········································································ 1-13
1.2.2.7 ECM-B3 系列伺服马达 ········································································ 1-15
1.3 ASDA-W3 选型说明 ························································································ 1-17
1.3.1 基本组合说明 ·························································································· 1-17
1.3.2 驱动模块与马达匹配表 ·············································································· 1-18
ECM-A3 系列伺服马达····················································································· 1-18
ECM-B3 系列伺服马达····················································································· 1-19
1.3.3 各模块的选型需求 ···················································································· 1-20
1.3.4 选型限制 ································································································ 1-20
1.3.5 W3 选型流程 ··························································································· 1-21
1.4 ASDA-W3 各部名称 ························································································ 1-23
1.4.1 电源模块 ································································································ 1-23
1.4.2 驱动模块 ································································································ 1-24
1.4.3 控制模块 1-25
1.4.4 背板模块 ································································································ 1-26
安装
2.1 储存环境条件 ··································································································2-2
2.2 安装环境条件 ··································································································2-3
2.3 安装方向与空间 2-4
2.4 模块安装 2-5
2
1
2.4.1 安装前注意事项 ·························································································2-5
2.4.2 方法一：先组装 W3 后再安装至机柜·······························································2-7
2.4.3 方法二：于机柜中逐一安装 ········································································ 2-10
2.5 断路器、电磁接触器与保险丝建议规格表····························································· 2-13
2.6 铁氧体磁环 ··································································································· 2-14
2.7 EMC 安装条件······························································································· 2-15
2.7.1 电磁干扰滤波器 (EMI Filter) ······································································· 2-16
2.8 回生电阻的选择方法 ······················································································· 2-18
2.9 电磁抱闸的使用 ····························································································· 2-21
2.10 线材的使用·································································································· 2-22
2.11 马达安全预防措施························································································· 2-23
2.11.1 马达动作、状态的故障分析排除 ································································· 2-25
2.11.2 马达安装方向注意事项············································································· 2-26
2.11.3 使用油封马达的注意事项·········································································· 2-27
2.11.4 马达安装对手件的注意事项 ······································································· 2-28
2.11.5 马达油水对策注意事项············································································· 2-30
2.11.6 抑制伺服马达温升的措施·········································································· 2-31
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 电源模块 - 内建电子变压器 ···································································3-4
3.1.1.3 驱动模块 ····························································································3-5
3.1.1.4 控制模块 ····························································································3-6
3.1.2 驱动器的连接器与端子 ················································································3-7
3.1.3 动力接头规格 ····························································································3-8
3.1.3.1 F40 ~ F80 动力接头··············································································3-8
3.1.3.2 F100 ~ F130 动力接头········································································· 3-10
3.1.3.3 F180 动力接头··················································································· 3-11
3.1.3.4 F100 ~ F180 抱闸接头········································································· 3-12
3.1.4 编码器接头规格 ······················································································· 3-13
3.1.4.1 F40 ~ F80 编码器接头 313
标准接头 ························································································ 3-13
乔合里接头······················································································· 3-14
锁固式接头······················································································· 3-15
3.1.4.2 F100 ~ F180 编码器接头······································································ 3-16
3.1.5 线材的选择 ····························································································· 3-18
3.1.5.1 端子台 / 螺丝与锁附扭力规格 318
3.1.5.2 线径与端子规格 319
3.1.5.3 端子配线说明 ···················································································· 3-20
3
3.1.5.4 动力线材规格 ···················································································· 3-21
3.1.5.5 编码器线材规格 ················································································· 3-24
3.1.5.6 耐挠曲线材规格 ················································································· 3-25
3.1.6 防水接头安装说明 ···················································································· 3-26
3.1.6.1 F40 ~ F80 马达·················································································· 3-26
乔合里接头······················································································· 3-26
锁固式接头······················································································· 3-27
3.1.6.2 F100 ~ F180 4.5 kW 以下马达动力接头··················································· 3-29
3.1.6.3 F100 ~ F180 马达编码器 / 抱闸接头······················································ 3-30
3.1.6.4 防水接头规格 ···················································································· 3-31
3.2 伺服系统基本方块图 ······················································································· 3-32
3.3 CN1 I/O 信号接线··························································································· 3-33
3.3.1 CN1 I/O 连接器端子·················································································· 3-33
3.3.2 CN1 I/O 连接器信号说明············································································ 3-34
3.3.3 CN1 界面接线图······················································································· 3-36
3.4 CN2 第一组位置反馈信号接线··········································································· 3-38
3.4.1 F40 ~ F80 编码器线·················································································· 3-39
3.4.2 F100 ~ F180 编码器线··············································································· 3-40
3.4.3 CN2 接头屏蔽施工说明·············································································· 3-41
3.5 CN4 Ethernet 通讯端口信号接线········································································ 3-42
3.6 CN5 第二组位置反馈信号接线··········································································· 3-43
3.7 CN6 通讯端口信号接线···················································································· 3-44
3.7.1 EtherCAT 通讯端口信号接线······································································· 3-44
3.8 CN10 STO 功能 (Safe Torque Off)····································································· 3-47
3.8.1 STO 介绍 ······························································································· 3-47
3.8.2 使用上的注意事项 ···················································································· 3-47
3.8.3 潜在风险 ································································································ 3-48
3.8.4 安全参数 ································································································ 3-49
3.8.5 STO 动作 ······························································································· 3-51
3.8.5.1 反应时间 ·························································································· 3-51
3.8.5.2 异警触发 ·························································································· 3-52
3.8.5.3 解除 STO 状态的方法 3-53
3.8.6 STO 配线 ······························································································· 3-54
3.8.6.1 CN10 STO 端子················································································· 3-54
3.8.6.2 输入输出信号规格 ·············································································· 3-55
3.8.6.3 不使用 STO 功能················································································ 3-56
3.8.6.4 使用 STO 功能··················································································· 3-57
3.8.7 验证测试 ································································································ 3-59
3.9 标准接线方式 360
面板操作、试运转与软件联机
4.1 控制模块面板各部名称 ······················································································4-2
4.2 屏幕显示 ········································································································4-3
4.2.1 储存设定显示 ····························································································4-3
4.2.2 操作显示 ··································································································4-3
4.3 主选单切换 ·····································································································4-4
4.4 驱动模块参数设定 ····························································································4-5
4.5 控制模块参数设定 ····························································································4-7
4.6 电源模块参数设定 ····························································································4-8
4.7 异警显示 ········································································································4-9
4.7.1 警示讯息显示 ····························································································4-9
4.8 监控设定 ······································································································ 4-10
4.8.1 监控显示 ································································································ 4-11
4.9 一般功能设定 ································································································ 4-12
4.10 一般功能操作······························································································· 4-13
4.10.1 强制数字输出操作··················································································· 4-13
4.10.2 数字输入诊断操作··················································································· 4-13
4.10.3 数字输出诊断操作··················································································· 4-13
4.11 试运转········································································································ 4-14
4.11.1 初步检测······························································································· 4-14
4.11.2 驱动器送电···························································································· 4-15
4.11.3 空载寸动测试························································································· 4-17
旋转马达····································································································· 4-17
4.11.4 空载速度测试························································································· 4-18
旋转马达····································································································· 4-19
4.11.5 空载的定位测试······················································································ 4-20
4.12 ASDA-Soft 与伺服的联机说明·········································································· 4-22
4.12.1 常见问题······························································································· 4-22
4.12.2 联机说明······························································································· 4-23
4.12.2.1 计算机与单台驱动器联机···································································· 4-23
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
5.2.1.1 旋转电机 ····························································································5-5
5.2.2 惯量估测 – 操作 ASDA-Soft 软件5-6
5.2.2.1 旋转电机 57
5
4
5.3 一键调机 ········································································································5-8
5.3.1 一键调机注意事项 ······················································································5-9
5.3.1.1 旋转电机 ····························································································5-9
5.3.2 一键调机 – 操作 ASDA-Soft 软件··································································5-9
5.4 自动调机 ······································································································ 5-11
5.4.1 自动调机注意事项 ···················································································· 5-12
5.4.1.1 旋转电机··························································································· 5-12
5.4.2 自动调机流程图 ······················································································· 5-13
5.4.3 自动调机 - 操作 ASDA-Soft 软件································································· 5-14
电机驱动命令由上位控制器下达··································································· 5-14
电机驱动命令由驱动器下达········································································· 5-17
5.4.4 自动调机相关参数 ···················································································· 5-20
5.4.4.1 自动增益调整准位 1 (P2.105) - 调整刚性·················································· 5-20
5.4.4.2 自动增益调整准位 2 (P2.106) - 调整响应·················································· 5-21
5.4.5 自动调机相关异警 ···················································································· 5-22
5.5 增益调整模式 ································································································ 5-23
5.5.1 增益调整模式差异表 ················································································· 5-23
5.5.2 增益调整模式流程 ···················································································· 5-25
5.5.3 增益调整模式 1························································································ 5-26
5.5.4 增益调整模式 2························································································ 5-26
5.5.5 增益调整模式 3························································································ 5-27
5.5.6 增益调整模式 4························································································ 5-28
5.5.7 增益调整模式 5························································································ 5-29
5.5.8 增益调整模式 6························································································ 5-29
5.5.9 增益调整模式相关参数 ·············································································· 5-30
5.5.9.1 带宽响应层级(P2.031) - 调整刚性·························································· 5-30
5.5.9.2 命令响应增益(P2.089) - 调整响应·························································· 5-31
5.5.9.3 速度回路响应带宽设定(P2.126) - 调整带宽·············································· 5-31
5.6 手动调整增益参数 ·························································································· 5-32
5.6.1 手动调整增益流程 - 速度模式 ···································································· 5-34
5.6.2 手动调整增益流程 - 位置模式 ···································································· 5-35
5.6.3 手动调整增益 – 操作 ASDA-Soft 软件·························································· 5-36
5.7 机械共振与异音的处理 5-37
5.7.1 共振抑制 Notch filter ················································································· 5-38
5.7.1.1 功能限制 ·························································································· 5-38
5.7.1.2 功能说明 ·························································································· 5-38
5.7.1.3 参数介绍 ·························································································· 5-39
5.7.1.4 应用范例 ·························································································· 5-40
5.7.2 共振抑制低通滤波器 5-43
5.7.2.1 功能限制 5-43
5.7.2.2 功能说明 ·························································································· 5-43
5.7.2.3 应用范例 ·························································································· 5-43
5.7.3 速度检测滤波器 ······················································································· 5-44
5.7.3.1 功能限制 ·························································································· 5-44
5.7.3.2 功能说明 ·························································································· 5-44
5.7.4 低频抑振滤波器 ······················································································· 5-45
5.7.4.1 功能限制 ·························································································· 5-45
5.7.4.2 功能说明 ·························································································· 5-45
5.7.4.3 应用范例 ·························································································· 5-47
5.7.5 模型控制抑振滤波器 ················································································· 5-48
5.7.5.1 双自由度模式功能限制 ········································································ 5-48
5.7.5.2 双自由度模式功能说明 ········································································ 5-49
5.7.5.3 双自由度模式应用范例 ········································································ 5-50
5.7.5.4 挠性补偿功能限制 ·············································································· 5-51
5.7.5.5 挠性补偿功能说明 ·············································································· 5-51
5.7.5.6 挠性补偿应用范例 ·············································································· 5-52
5.7.6 位置命令滤波器 ······················································································· 5-53
5.7.6.1 功能限制 ·························································································· 5-53
5.7.6.2 功能说明 ·························································································· 5-53
5.7.6.3 应用范例 ·························································································· 5-54
5.7.7 速度命令滤波器 ······················································································· 5-55
5.7.7.1 功能限制 ·························································································· 5-55
5.7.7.2 功能说明 ·························································································· 5-55
5.7.7.3 应用范例 ·························································································· 5-55
5.7.8 扭矩命令滤波器 ······················································································· 5-56
5.7.8.1 功能限制 ·························································································· 5-56
5.7.8.2 功能说明 ·························································································· 5-56
5.7.8.3 应用范例 ·························································································· 5-56
5.8 应用功能调整 ································································································ 5-57
5.8.1 等速段位置误差调整 ················································································· 5-57
5.8.1.1 功能限制 ·························································································· 5-57
5.8.1.2 功能说明 ·························································································· 5-57
5.8.1.3 应用范例 ·························································································· 5-58
5.8.2 位置过冲调整 5-59
5.8.2.1 功能限制 ·························································································· 5-59
5.8.2.2 功能说明 ·························································································· 5-59
5.8.2.3 应用范例 ·························································································· 5-59
5.8.3 多轴轨迹控制 ·························································································· 5-60
5.8.3.1 功能限制 ·························································································· 5-60
5.8.3.2 功能说明 ·························································································· 5-60
5.8.3.3 应用范例 5-61
5.8.4 增益切换 5-63
5.8.4.1 功能限制 ·························································································· 5-63
5.8.4.2 功能说明 ·························································································· 5-63
5.8.4.3 应用范例 ·························································································· 5-63
控制机能
6.1 控制模式选择 ··································································································6-2
6.2 位置模式 (PR)·································································································6-3
6.2.1 位置命令的选择 ·························································································6-3
6.2.2 位置模式控制架构 ······················································································6-4
6.2.3 位置命令的平滑处理 ···················································································6-5
6.2.4 电子齿轮比 ·······························································································6-7
6.2.5 位置模式时序图 ·························································································6-8
6.2.6 位置回路增益调整 ······················································································6-9
6.2.7 位置模式低频抑振 ···················································································· 6-10
6.3 速度模式 (Sz) ······························································································· 6-11
6.3.1 速度命令的选择 ······················································································· 6-11
6.3.2 速度模式控制架构 ···················································································· 6-12
6.3.3 速度命令的平滑处理 ················································································· 6-13
6.3.4 速度模式时序图 ······················································································· 6-14
6.3.5 速度回路增益调整 ···················································································· 6-15
6.3.6 共振抑制单元 ·························································································· 6-17
6.4 扭矩模式 (Tz)································································································ 6-19
6.4.1 扭矩命令的选择 ······················································································· 6-19
6.4.2 扭矩模式控制架构 ···················································································· 6-20
6.4.3 扭矩命令的平滑处理 ················································································· 6-20
6.4.4 扭矩模式时序图 ······················································································· 6-21
6.5 其他 ··········································································································· 6-22
6.5.1 速度限制的使用 ······················································································· 6-22
6.5.2 扭矩限制的使用 ······················································································· 6-22
运动控制功能说明
7.1 PR 模式说明 7-2
7.1.1 PR 共用参数资料 ·······················································································7-4
7.1.2 PR 模式相关监控变量 ·················································································7-5
7.1.3 运动控制命令模式 ······················································································7-8
7.1.3.1 原点复归模式 ······················································································7-8
7.1.3.2 速度命令 ·························································································· 7-19
7.1.3.3 位置命令 ·························································································· 7-21
7.1.3.4 程序跳转命令 7-23
如何操作与设定
7
6
7.1.3.5 写入命令 ·························································································· 7-23
7.1.3.6 分度位置命令 ···················································································· 7-25
7.1.4 PR 程序表示方法 ····················································································· 7-28
7.1.5 PR 命令触发方式 ····················································································· 7-34
7.1.6 PR 程序执行流程 ····················································································· 7-36
参数与功能
8.1 参数定义 ········································································································8-2
8.2 电源模块参数说明 ····························································································8-3
VP0.xxx 监控参数···························································································8-3
VP1.xxx 诊断参数···························································································8-7
8.3 驱动模块参数说明 ····························································································8-9
P0.xxx 监控参数·····························································································8-9
P1.xxx 基本参数··························································································· 8-20
P2.xxx 扩充参数··························································································· 8-43
P3.xxx 通讯参数··························································································· 8-78
P4.xxx 诊断参数··························································································· 8-82
P5.xxx Motion 设定参数 ················································································· 8-96
P6.xxx PR 路径定义参数·············································································· 8-115
P7.xxx PR 路径定义参数·············································································· 8-138
表 8.1 数字输入(DI)功能定义表 ····································································· 8-159
表 8.2 数字输出(DO)功能定义表···································································· 8-162
表 8.3 监控变量说明 ··················································································· 8-166
8.4 控制模块参数说明 ························································································ 8-169
CP0.xxx 通讯参数······················································································· 8-169
CP1.xxx 工厂参数······················································································· 8-181
CP2.xxx 扩充参数······················································································· 8-181
CP3.xxx 通讯参数······················································································· 8-182
CP4.xxx 诊断参数······················································································· 8-187
CP5.xxx 龙门参数······················································································· 8-190
表 8.4 监控变量说明 ··················································································· 8-193
参数设定
8
绝对型伺服系统
9.1 电池规格 ········································································································9-3
9.2 安装 ·············································································································9-5
9.2.1 安装电池盒于伺服系统 ················································································9-5
9.2.2 如何安装及更换电池 ···················································································9-6
9.3 系统初始化与操作流程 ······················································································9-9
9.3.1 系统初始化 ·······························································································9-9
9.3.2 脉冲数值 ································································································ 9-10
9.3.3 PUU 数值 ······························································································· 9-11
9.3.4 绝对型原点坐标建立 ················································································· 9-12
9.3.4.1 使用参数设定 ···················································································· 9-12
9.3.4.2 使用 PR 原点复归功能········································································· 9-12
9.3.4.3 使用 EtherCAT Homing Mode 原点复归模式············································· 9-12
9.3.5 读取绝对位置 ·························································································· 9-13
9.3.5.1 使用通讯功能 ···················································································· 9-13
应用功能
10.1 龙门功能····································································································· 10-2
10.1.1 硬件配线······························································································· 10-2
10.1.2 注意事项······························································································· 10-3
10.1.3 龙门系统架构与功能说明·········································································· 10-4
10.1.3.1 系统架构························································································· 10-4
10.1.3.2 龙门功能设定··················································································· 10-5
10.1.3.3 龙门 Servo On 方式··········································································· 10-6
10.1.3.4 龙门 AL291 异警说明········································································· 10-6
10.1.3.5 解联功能························································································· 10-7
10.1.4 龙门使用流程························································································· 10-8
10.1.4.1 调机······························································································· 10-9
10.1.4.1.1 自动调机 1010
10.1.4.1.2 层级式调机 ············································································· 10-11
10.1.4.1.3 手动调机 ················································································ 10-11
10.1.4.1.4 龙门增益调机 ·········································································· 10-11
10.1.4.1.5 参数 ······················································································ 10-12
10.1.4.1.6 监控变量 ················································································ 10-12
10.1.4.2 龙门回原点方式·············································································· 10-13
10.1.4.2.1 单一原点传感器 1014
10.1.4.2.2 所有轴皆安装传感器 ································································· 10-14
9
10
EtherCAT 模式
11.1 基本配置····································································································· 11-2
11.1.1 硬件相关配置························································································· 11-2
11.1.2 ESI 档案汇入 ························································································· 11-5
11.1.3 EtherCAT 模式的参数设定 ········································································ 11-6
11.2 通讯功能··································································································· 11-12
11.2.1 单站多轴····························································································· 11-12
11.2.1.1 规格····························································································· 11-13
11.2.2 同步模式 (DC) ····················································································· 11-15
11.2.2.1 伺服驱动器同步模式········································································ 11-15
11.2.2.2 同步模式选择················································································· 11-15
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 映像配置······················································································ 11-18
11.2.4.1 默认 PDO 映像配置········································································· 11-18
11.2.4.2 设定 PDO 映射··············································································· 11-19
11.2.4.3 PDO 映像物件················································································ 11-20
11.2.4.4 SDO 异常码 (Abort Code) ································································ 11-21
11.3 EtherCAT 操作模式 ····················································································· 11-22
11.3.1 Profile Position Mode (位置规划模式)························································ 11-22
11.3.2 Profile Velocity Mode (速度规划模式) ························································ 11-26
11.3.3 Profile Torque Mode (扭矩规划模式)·························································· 11-28
11.3.4 Homing Mode (原点复归模式)·································································· 11-30
11.3.5 Cyclic Synchronous Position Mode (周期同步位置模式) ································ 11-32
11.3.6 Cyclic Synchronous Velocity Mode (周期同步速度模式)································· 11-34
11.3.7 Cyclic Synchronous Torque Mode (周期同步扭矩模式)·································· 11-36
11.3.8 Touch Probe (位置抓取功能与位置抓取状态)··············································· 11-38
11.4 Object Dictionary 对象字典 ··········································································· 11-42
11.4.1 对象详述 (Specifications for Objects)························································ 11-42
11.4.2 对象一览表·························································································· 11-43
11.4.3 对象详细数据······················································································· 11-47
11.4.3.1 OD 1XXXh 通讯对象群组·································································· 11-47
11.4.3.2 OD 2XXXh 伺服参数群组 11-65
11.4.3.3 OD 6XXXh ~ OD BXXXh 通讯对象群组 ··············································· 11-69
11.4.3.4 OD FXXXh 模块对象群组 ································································11-121
11.5 疑难解答··································································································11-125
11
异警排除
12.1 异警排除方法说明·························································································12-2
12.2 异警一览表··································································································12-2
12.3 异警原因与处置····························································································12-6
规格
A.1 ASD-W3 伺服驱动器························································································ A-2
A.1.1 电源模块规格··························································································· A-2
A.1.2 驱动模块规格··························································································· A-3
A.1.3 控制模块规格··························································································· A-4
A.1.4 环境条件································································································· A-5
A.1.5 模块外型尺寸··························································································· A-6
A.1.5.1 电源模块··························································································· A-6
A.1.5.2 驱动模块··························································································· A-7
A.1.5.3 控制模块··························································································· A-9
A.1.5.4 空槽模块··························································································· A-9
A.1.5.5 背板模块··························································································A-10
A.2 ECM-A3 系列伺服马达 ····················································································A-13
A.2.1 ECM-A3L 低惯量系列伺服马达电气规格····················································A-13
A.2.2 ECM-A3H 高惯量系列伺服马达电气规格 ···················································A-14
A.2.3 A3 马达扭矩特性 (T-N 曲线)···································································A-15
A.2.4 过负载之特性 ······················································································A-17
A.2.5 ECM-A3L/A3H 伺服马达外型尺寸 ····························································A-18
马达 80 框号(含)以下系列···········································································A-18
A.3 ECMB3 系列伺服马达 A-19
A.3.1 B3 马达电气规格······················································································A-19
马达 80 框号(含)以下系列 (低惯量 / 中惯量)··················································A-19
马达 80 框号(含)以下系列 (高惯量) ······························································A-21
马达 100 框号系列 (中惯量)········································································A-22
马达 130 框号系列 (中惯量 / 高惯量)···························································A-23
马达 180 框号系列 (中惯量)A-24
A.3.2 B3 马达扭矩特性 (T-N 曲线) A-25
马达 80 框号(含)以下系列···········································································A-25
马达 100 框号系列····················································································A-26
附录
如何排除问题
A
12
马达 130 框号系列····················································································A-27
马达 180 框号系列····················································································A-27
A.3.3 B3 马达额定值降低率················································································A-28
A.3.4 过负载之特性··························································································A-29
A.3.5 ECM-B3 伺服马达外型尺寸 ········································································A-31
马达 80 框号(含)以下系列 - 带线式 (低惯量 / 中惯量 / 高惯量)························A-31
马达 80 框号(含)以下系列 - 锁固式 (低惯量 / 中惯量 / 高惯量)························A-32
马达 100 框号系列 (中惯量)········································································A-33
马达 130 框号系列 (中惯量 / 高惯量)···························································A-34
马达 180 框号系列 (中惯量)········································································A-35
配件
B.1 动力接头······································································································· B-2
B.2 动力线·········································································································· B-3
B.2.1 F40 ~ F80 马达························································································· B-3
B.2.2 F100 ~ F130 马达 ····················································································· B-3
B.2.3 F180 马达 ······························································································· B-4
B.2.4 F100 ~ F180 马达抱闸线 ············································································ B-4
B.3 动力转接线/对手件接头 (锁固式) ······································································· B-5
B.3.1 F40 ~ F80 马达························································································· B-5
B.4 编码器接头 ···································································································· B-6
B.5 编码器线······································································································· B-7
B.5.1 F40 ~ F80 马达························································································· B-7
B.5.2 F100 ~ F180 马达 ····················································································· B-7
B.6 编码器转接线/对手件接头 (锁固式) ···································································· B-8
B.6.1 F40 ~ F80 马达························································································· B-8
B.7 电池盒·········································································································· B-9
B.8 CN1 连接器端子 ····························································································B-10
B.9 铁氧体磁环 ···································································································B-10
B.10F100 ~ F180 马达抱闸与编码器接头 (线) 选用注意事项·······································B-11
B
1-1
产品型号说明
使用本产品前，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。请依据选型说明正确
选购 W3 驱动器。
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·································································································· 1-8
1.2.2.1 电源模块···························································································· 1-8
1.2.2.2 驱动模块···························································································· 1-9
1.2.2.3 控制模块·························································································· 1-10
1.2.2.4 空槽模块·························································································· 1-11
1.2.2.5 背板模块·························································································· 1-12
1.2.2.6 ECM-A3 系列伺服马达········································································ 1-13
1.2.2.7 ECM-B3 系列伺服马达········································································ 1-15
1.3 ASDA-W3 选型说明 ························································································ 1-17
1.3.1 基本组合说明·························································································· 1-17
1.3.2 驱动模块与马达匹配表·············································································· 1-18
ECM-A3 系列伺服马达···················································································· 1-18
ECM-B3 系列伺服马达···················································································· 1-19
1.3.3 各模块的选型需求···················································································· 1-20
1.3.4 选型限制································································································ 1-20
1.3.5 W3 选型流程··························································································· 1-21
1.4 ASDA-W3 各部名称 ························································································ 1-23
1.4.1 电源模块································································································ 1-23
1.4.2 驱动模块································································································ 1-24
1.4.3 控制模块································································································ 1-25
1.4.4 背板模块································································································ 1-26
1
产品型号说明ASDA-W3
1-2
1
1.1 开箱确认
开箱时，请确认是否包含以下配件且数量正确，若有缺漏，请洽询代理商。
电源模块
型号 锁附螺丝
ASD-W3-PM1621 2
ASD-W3-PM3021 2
ASD-W3-PM6023 4
ASD-W3-PM8023 4
ASD-W3-PM804N-R2 4
注：螺丝规格为附弹簧垫圈与平垫圈的耐落螺丝 (M5 x 12 mm)。
驱动模块
型号 UVW 快速接头 塑料压棒 STO 端子 锁附螺丝
ASD-W3-DM012D-①② 1 1 1 2
ASD-W3-DM022D-①② 1 1 1 2
ASD-W3-DM042D-①② 1 1 1 2
ASD-W3-DM072D-①② 1 1 1 2
ASD-W3-DM102D-①② 1 1 1 4
ASD-W3-DM152D-①② 1 1 1 4
ASD-W3-DM202S-①② 0 0 1 4
ASD-W3-DM302S-①② 0 0 1 4
注：
1. 驱动模块型号特别码②为 S 时才会附赠 STO 端子。
2. 螺丝规格为附弹簧垫圈与平垫圈的耐落螺丝 (M5 x 12 mm)。
控制模块
型号 STO 端子 锁附螺丝
ASD-W3-CM04E-② 1 2
ASD-W3-CM08E-② 1 2
ASD-W3-CM12E-② 1 2
注：
1. 控制模块型号特别码②为 S 时才会附赠 STO 端子。
2. 螺丝规格为附弹簧垫圈与平垫圈的耐落螺丝 (M5 x 12 mm)。
空槽模块
型号 背板防尘盖 锁附螺丝
ASD-W3-DB 2 2
注：螺丝规格为附弹簧垫圈与平垫圈的耐落螺丝 (M5 x 12 mm)。
背板模块
无提供配件，请自备锁附螺丝，螺丝建议规格与安装说明请参考第二章。
ASDA-W3 产品型号说明
1-3
1
1.2 产品型号对照
1.2.1 铭牌说明
ASDA-W3 系列伺服驱动器
电源模块铭牌说明
0.41
USE PROPER GROUNDING TECHNIQUES
No.18,Xinglong Rd.,Taoyuan City 330477
MODEL:ASD-W3-PM1621
INPUT:
OUTPUT: N/A
POWER: 1.6kW
MAC ADDRESS:N/A
SN: W3PM1621W23110001
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
200-240V 1PH
50/60Hz 14.12A
MADE IN CHINA
30
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
W3PM1621 W 23 11 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 (一周内制造序号，从0001开始)
产品型号说明ASDA-W3
1-4
1
驱动模块铭牌说明
0.41
USE PROPER GROUNDING TECHNIQUES
MODEL:ASD-W3-DM012D-AS
INPUT :
OUTPUT:110V 0-500Hz 0.9A / Axis
POWER: 100W
MAC ADDRESS: N/A
SN: W3012DASW23110001
产品型号
功率规格
输出电源规格
N/A
生产管制序号与条码
韧体版本
No.18,Xinglong Rd.,Taoyuan City 330477 MADE IN CHINA
5
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
W3012DAS W 23 11 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 (從1至52)
(5) 制造序号 (一周内制造序号，从0001开始)
ASDA-W3 产品型号说明
1-5
1
控制模块铭牌说明
0.41
USE PROPER GROUNDING TECHNIQUES
MODEL:ASD-W3-CM08E
INPUT: N/A
OUTPUT: N/A
POWER: N/A
MAC ADDRESS: 0018238D7B11
SN: W3CM08E0W23150001
产品型号
MAC位址
生产管制序号与条码
韧体版本
No.18,Xinglong Rd.,Taoyuan City 330477 MADE IN CHINA
0
MAC位址
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
W3CM08E0 W 23 15 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 (一周内制造序号，从0001开始)
产品型号说明ASDA-W3
1-6
1
背板模块铭牌说明
MODEL:ASD-W3-BP05
W3BP0500W24010001
产品型号
生产管制序号与条码
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
W3BP0500 W 24 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 (24：2024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)
ASDA-W3 产品型号说明
1-7
1
ECM-A3 / ECM-B3系列伺服马达
铭牌说明
No.18,Xinglong Rd.,
Taoyuan City 330477
ECM-B3M-CA0604RS1
1.42
BCCAB1JBW22430001
产品型号
马达输入电源规格
马达输出规格
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
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 (一周内制造序号，从0001开始)
注：铭牌中的「马达输入电源规格」为安规认证电压，220V 系列马达的输入电源规格为 110V。「220V 系列马达」的
220V 指的是驱动器输入电压。
产品型号说明ASDA-W3
1-8
1
1.2.2 型号说明
此章节之型号说明是为了帮助理解命名原则，并非所有任意组合皆有提供，详细可订购型号请洽
经销商。
1.2.2.1 电源模块
ASD – W3 – PM 80 4N – R 2
(1) (2) (3) (4) (5) (6)(7)
(1) 产品名称
AC Servo Drive
(2) 产品系列
W3：W3 系列
(3) 模块
PM：电源模块
(4) 额定输出功率
代号 规格 代号 规格
16 1.6 kW 60 6 kW
30 3 kW 80 8 kW
(5) 输入电压及相数
21：220V，单相/三相注 1
23：220V，三相
4N：400V，三相四线注 2
注：
1. ASD-W3-PM1621 仅支援单相。
2. 仅支援 Y 型接法。
(6) 特别码 1
R：内建电子变压器
(7) 特别码 2
2：将电压转换为 220V
ASDA-W3 产品型号说明
1-9
1
1.2.2.2 驱动模块
ASD - W3 - DM 30 2 S -A S
(1) (2) (3) (4) (5)(6) (7) (8)
(1) 产品名称
AC Servo Drive
(2) 产品系列
W3：W3 系列
(3) 模块
DM：驱动模块
(4) 额定输出功率
(5) 输入电压
2：220V
(6) 支援轴数
S：单轴
D：双轴
(7) 编码器连接接口
B：CN2 (IEEE 1394)
A：CN2 (IEEE 1394) + CN5 (D-Sub 15-pin)
(8) 特别码
S：STO 功能
代号 规格 代号 规格 代号 规格
01 100 W 07 750 W 20 2.0 kW
02 200 W 10 1.0 kW 30 3.0 kW
04 400 W 15 1.5 kW - -
产品型号说明ASDA-W3
1-10
1
1.2.2.3 控制模块
ASD - W3 - CM 04 E - S
(1) (2) (3) (4) (5) (6)
(1) 产品名称
AC Servo Drive
(2) 产品系列
W3：W3 系列
(3) 模块
CM：控制模块
(4) 最大支持轴数
代号 轴数 代号 轴数
04 4 轴 12 12 轴
08 8 轴 - -
(5) 通讯类型
E：EtherCAT
(6) 特别码
S：STO 功能
ASDA-W3 产品型号说明
1-11
1
1.2.2.4 空槽模块
ASD - W3 - DB
(1) (2) (3)
(1) 产品名称
AC Servo Drive
(2) 产品系列
W3：W3 系列
(3) 模块
DB：空槽模块
产品型号说明ASDA-W3
1-12
1
1.2.2.5 背板模块
ASD - W3 - BP 04
(1) (2) (3) (4)
(1) 产品名称
AC Servo Drive
(2) 产品系列
W3：W3 系列
(3) 模块
BP：背板模块
(4) 插槽数
代号 插槽数 代号 插槽数
04 4 槽 08 8 槽
05 5 槽 10 10 槽
06 6 槽 12 12 槽
ASDA-W3 产品型号说明
1-13
1
1.2.2.6 ECM-A3系列伺服马达
(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：电子换相式马达
(2) 驱动型态
A：高精度泛用型伺服马达
(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) 编码器型式
Y：24-bit 绝对型光学式编码器 (单圈分辨率：24-bit；圈数分辨率：16-bit)
1：24-bit 增量型光学式编码器 (单圈绝对型)
A：24-bit 绝对型磁光式编码器 (单圈分辨率：24-bit；圈数分辨率：16-bit)
2：24-bit 增量型磁光式编码器 (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) 马达框架尺寸
04：40 mm
06：60 mm
08：80 mm
产品型号说明ASDA-W3
1-14
1
(8) 额定输出功率
(9) 轴径形式和油封
(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)*，标准接头
J：标准轴径，乔合里接头 (IP67)
K：特殊轴径 (14 mm)*，乔合里接头 (IP67)
注：特殊轴径适用于 F80 400 W 机种。
(11) 特别码
1：标准品
Z：C0807S的特别码，详细请参阅 A.2.5 节之批注
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-W3 产品型号说明
1-15
1
1.2.2.7 ECM-B3系列伺服马达
(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：电子换相式马达
(2) 驱动型态
B：一般泛用型伺服马达
(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
(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-W3
1-16
1
(7) 马达框架尺寸
代号 规格 代号 规格
04 40 mm 10 100 mm
06 60 mm 13 130 mm
08 80 mm 18 180 mm
(8) 额定输出功率
代号 规格 代号 规格
01 100 W 13 1.3 kW
02 200 W 15 1.5 kW
04 400 W 18 1.8 kW
07 750 W 20 2.0 kW
08 850 W 30 3.0 kW
10 1.0 kW - -
(9) 轴径型式和油封
无抱闸，有油封 有抱闸，有油封
带键槽
带螺丝孔
R S
(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)
B：标准轴径，锁固式接头
注：特殊轴径仅适用于 F80 400 W 机种。
(11) 特别码
1：标准品
ASDA-W3 产品型号说明
1-17
1
1.3 ASDA-W3 选型说明
1.3.1 基本组合说明
W3 驱动器需要由一个电源模块、一个或多个驱动模块、一个控制模块与一个背板模块所组成，
且各模块缺一不可。若有空槽，请选购空槽模块。
此范例仅介绍 W3 驱动器的基本组合，选型流程请参考 1.3.5 节。
槽 模块 说明
第 1 槽 电源模块 依据驱动模块功率总和选择适合的电源模块。一组 W3 仅需一个电源模
块，W3 不支持同时安装两个或以上的电源模块。
第 2 槽
第 3 槽 驱动模块
依据马达使用数量与功率选择驱动模块。驱动模块的轴数编号将由右至
左并依照 A、B 顺序排列。以下图为例，第 3 槽的 A 为第 1 轴，B 为第
2 轴；第 2 槽的 A 为第 3 轴，B 为第 4 轴。另外，各轴的 DI 与 DO 需
要通过参数设定映像到实体 DI 与 DO。
第 4 槽 控制模块 依据马达数量选择适合的控制模块。马达实际数量不可超过控制模块最
大支持轴数。
- 背板模块 依总槽数需求选择适合的背板模块。请参考 1.3.3 与 1.3.4 节。
第3轴
第4轴
第1轴
第2轴
第4轴 第3轴 第2轴 第1轴
产品型号说明ASDA-W3
1-18
1
1.3.2 驱动模块与马达匹配表
ECM-A3系列伺服马达
伺服马达 驱动模块
型号
额定 /
最大转速
(rpm)
马达
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
ASD-W3-
额定
功率
(W)
额定 /
最大电流
(Arms)
ECM-A3L-C040F 3000 / 6000 40 50 0.0229 / 0.0255 0.66 / 2.82 0.159 / 0.557 DM012D 100 0.9 / 3.52
ECM-A3L-C0401 3000 / 6000 40 100 0.04 / 0.0426 0.9 / 3.88
0.32 / 1.01 DM012D 100 0.9 / 3.52
0.32 / 1.12 DM022D 200 1.55 / 7.07
ECM-A3L-C0602 3000 / 6000 60 200 0.09 / 0.12 1.45 / 6.2 0.64 / 2.24 DM022D 200 1.55 / 7.07
ECM-A3L-C0604 3000 / 6000 60 400 0.15 / 0.18 2.65 / 10.1 1.27 / 4.45 DM042D 400 2.65 /10.61
ECM-A3L-C0804 3000 / 6000 80 400 0.352 / 0.408 2.6 / 10.6 1.27 / 4.44 DM042D 400 2.65 /10.61
ECM-A3L-C0807 3000 / 6000 80 750 0.559 / 0.614 5.1 / 20.6
2.39 / 6.45 DM072D 750 5.1 / 14.14
2.39 / 8.36 DM102D 1k 7.3 / 21.9
ECM-A3H-C040F 3000 / 6000 40 50 0.0455 / 0.0517 0.64 / 2.59 0.159 / 0.557 DM012D 50 0.9 / 3.52
ECM-A3H-C0401 3000 / 6000 40 100 0.0754 / 0.0816 0.9 / 3.64
0.32 / 1.08 DM012D 100 0.9 / 3.52
0.32 / 1.12 DM022D 200 1.55 / 7.07
ECM-A3H-C0602 3000 / 6000 60 200 0.25 / 0.28 1.45 / 5.3 0.64 / 2.24 DM022D 200 1.55 / 7.07
ECM-A3H-C0604 3000 / 6000 60 400 0.45 / 0.48 2.65 / 9.8 1.27 / 4.45 DM042D 400 2.65 / 10.61
ECM-A3H-C0804 3000 / 6000 80 400 0.92 / 1.07 2.6 / 9.32 1.27 / 4.44 DM042D 400 2.65 / 10.61
ECM-A3H-C0807 3000 / 6000 80 750 1.51 / 1.66 4.61 / 16.4
2.39 / 7.23 DM072D 750 5.1 / 14.14
2.39 / 8.36 DM102D 1k 7.3 / 21.9
ASDA-W3 产品型号说明
1-19
1
ECM-B3系列伺服马达
伺服马达 驱动模块
型号
额定 /
最大转速
(rpm)
马达
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
ASD-W3-
额定
功率
(W)
额定 /
最大电流
(Arms)
ECM-B3L-C0401 3000 / 6000 40 100 0.0299 / 0.0315 0.857 / 3.44 0.32 / 1.12 DM012D 100 0.9 / 3.52
ECM-B3M-C0602 3000 / 6000 60 200 0.141 / 0.151 1.42 / 6.62 0.64 / 2.24 DM022D 200 1.55 / 7.07
ECM-B3M-C0604 3000 / 6000 60 400 0.254 / 0.264 2.40 / 9.47 1.27 / 4.45 DM042D 400 2.65 /10.61
ECM-B3M-C0804 3000 / 6000 80 400 0.648 / 0.695 2.53 / 9.42 1.27 / 4.45 DM042D 400 2.65 /10.61
ECM-B3M-C0807 3000 / 6000 80 750 1.07 / 1.13 4.27 / 15.8
2.4 / 7.61 DM072D 750 5.1 / 14.14
2.4 / 8.4 DM102D 1k 7.3 / 21.9
ECM-B3M-C0810 3000 / 6000 80 1k 1.37 / 1.40 5.00 / 18.2 3.18 / 11.13 DM102D 1k 7.3 / 21.9
ECM-B3M-C1010 3000 / 6000 100 1k 2.78 / 3.06 6.05 / 18.4 3.18 / 9.54 DM102D 1k 7.3 / 21.9
ECM-B3M-C1015 3000 / 6000 100 1.5k 3.69 / 3.97 7.48 / 22.8 4.77 / 14.3 DM152D 1.5k 8.3 / 23.7
ECM-B3M-C1020 3000 / 6000 100 2k 4.68 / 4.95 9.96 / 30.7 6.37 / 19.1 DM202S 2k 13.4 / 38.3
ECM-B3M-E1310 2000 / 3000 130 1k 7.79 / 7.94 5.96 / 19.9 4.77 / 14.3 DM102D 1k 7.3 / 21.9
ECM-B3M-E1315 2000 / 3000 130 1.5k 11.22 / 11.37 8.17 / 26.82
7.16 / 19.34 DM152D 1.5k 8.3 / 23.7
7.16 / 21.48 DM202D 2k 13.4 / 38.3
ECM-B3M-E1320 2000 / 3000 130 2k 14.65 / 14.8 10.59 / 34.20 9.55 / 28.65 DM202D 2k 13.4 / 38.3
ECM-B3M-E1820 2000 / 3000 180 2k 29.11 / 30.38 11.43 / 36.21 9.55 / 28.65 DM202S 2k 13.4 / 38.3
ECM-B3M-F1830 1500 / 3000 180 3k 53.63 / 54.9 18.21 / 58.9
19.1 / 52.3 DM302S 3k 19.4 / 53.03
19.1 / 57.29 - - -
ECM-B3H-C0602 3000 / 6700 60 200 0.265 / 0.280 1.51 / 6.12 0.64 / 2.43 DM022D 200 1.55 / 7.07
ECM-B3H-C0604 3000 / 6700 60 400 0.523 / 0.538 2.21 / 8.46 1.27 / 4.83 DM042D 400 2.65 /10.61
ECM-B3H-C0807 3000 / 6700 80 750 1.55 / 1.62 4.19 / 16.3
2.4 / 7.86 DM072D 750 5.1 / 14.14
2.4 / 9.12 DM102D 1k 7.3 / 21.9
ECM-B3H-F1308 1500 / 4000 130 850 12.44 / 12.62 6.65 / 20.0 5.39 / 16.17 DM102D 1k 7.3 / 21.9
ECM-B3H-F1313 1500 / 4000 130 1.3k 18.00 / 18.14 7.70 / 23.9
8.34 / 24.37 DM152D 1.5k 8.3 / 23.7
8.34 / 25.02 DM202D 2k 13.4 / 38.3
ECM-B3H-F1318 1500 / 4000 130 1.8k 22.60 / 22.80 11.5 / 36.1 11.5 / 34.5 DM202S 2k 13.4 / 38.3
产品型号说明ASDA-W3
1-20
1
1.3.3 各模块的选型需求
根据各模块规格，选择可搭配的型号。详细选型流程请参考 1.3.5 节。
电源模块
型号 功率 背板槽数需求
ASD-W3-PM1621 1.6 kW 1
ASD-W3-PM3021 3 kW 1
ASD-W3-PM6023 6 kW 2
ASD-W3-PM8023 8 kW 2
ASD-W3-PM804N-R2 8 kW 2
驱动模块
型号 功率 轴数 总功率
(功率 x 轴数)
背板槽数需求
ASD-W3-DM012D- 100 W 2 200 W 1
ASD-W3-DM022D- 200 W 2 400 W 1
ASD-W3-DM042D- 400 W 2 800 W 1
ASD-W3-DM072D- 750 W 2 1.5 kW 1
ASD-W3-DM102D- 1 kW 2 2 kW 2
ASD-W3-DM152D- 1.5 kW 2 3 kW 2
ASD-W3-DM202S- 2 kW 1 2 kW 2
ASD-W3-DM302S- 3 kW 1 3 kW 2
控制模块
型号 最大支持轴数 背板槽数需求
ASD-W3-CM04E- 4 1
ASD-W3-CM08E- 8 1
ASD-W3-CM12E- 12 1
背板模块
型号 槽数 备注
ASD-W3-BP04 4 仅可搭配电源模块 ASD-W3-
ASD-W3-BP05 5 PM1621 或 ASD-W3-PM3021
ASD-W3-BP06 6 -
ASD-W3-BP08 8 -
ASD-W3-BP10 10 -
ASD-W3-BP12 12 -
注：若有空槽，请选购空槽模块(ASD-W3-DB)。
1.3.4 选型限制
PDO 配置数量限制表如下，若设定错误会导致回授位置(速度)无法追到命令位置(速度)，使得马
达无法完成客户期望的动作。
每轴的 TxPDO 与 RxPDO 配置的上限各为 8 个，总数量如下表所示。
驱动模块(DM)总轴数 TxPDO 总数量上限 RxPDO 总数量上限
1 轴 ~ 8 轴 ≤ (轴数 x 8)个 ≤ (轴数 x 8)个
9 轴 ~ 12 轴 ≤ 55 个 ≤ 45 个
ASDA-W3 产品型号说明
1-21
1
1.3.5 W3 选型流程
W3 选型顺序如以下流程图所示。
马达选型
驱动模组(DM)选型
控制模组(CM)选型
电源模组(PM)选型
背板选型
1. 马达选型
选型技巧 以一条食品包装检测产线为例，设备机构所需的马达功率与数量如下。
马达功率 数量需求
3 kW 1
2 kW 1
750 W 2
200 W 4
100 W 2
2. 驱动模块选型
选型技巧 依据马达使用数量与功率选择驱动模块。
驱动模块型号 数量 说明
ASD-W3-DM302S-AS 1 3 kW 单轴版，可接 1 颗 3 kW 马达
ASD-W3-DM202S-AS 1 2 kW 单轴版，可接 1 颗 2 kW 马达
ASD-W3-DM072D-AS 1 750 W 双轴版，可接 2 颗 750 W 马达
ASD-W3-DM022D-AS 2 200 W 双轴版，可接 4 颗 200 W 马达
ASD-W3-DM012D-AS 1 100 W 双轴版，可接 2 颗 100 W 马达
注意：若为满载应用，请查阅 1.3.2 节 驱动模块与马达匹配表，选择适合的驱动模块。
3. 控制模块选型
选型技巧 控制模块最大支持轴数 ≥ 马达数量
注意 若最大支持轴数不足，即无法进行 EtherCAT 通讯。
请至 1.3.3 节查询控制模块最大支持轴数。
目前提供最大支持轴数为 4 轴、8 轴与 12 轴的控制模块，因为总共使用 10 颗马达，所以需选择可
控 12 轴的控制模块(型号：ASD-W3-CM12E-S)。
产品型号说明ASDA-W3
1-22
1
4. 电源模块选型
选型技巧 电源模块功率 ≥ 所有驱动模块的功率总和
注意 一个 W3 系统，仅可安装一组电源模块，不可安装多组电源模块。
请至 1.3.3 节查询驱动模块功率总和。
驱动模块有单轴与双轴的差异。当驱动模块为双轴时，需将驱动器的功率乘以 2。
3 kW + 2 kW + (750 W × 2) + (200 W × 2) + (200 W × 2) + (100 W × 2) = 7.5 kW
驱动模块功率总和为 7.5 kW，因此需选择 8 kW 的电源模块 (型号：ASD-W3-PM-8023)。
5. 背板模块选型
选型技巧 背板模块槽数 ≥ 安装需求总槽数
注意 请再次确认各模块所占用的槽数，以选用足够槽数的背板。
请至 1.3.3 节查询各模块的槽数需求，并乘上选用的模块数量，即为总槽数需求。
此范例的总槽数需求加总为 11 槽，因此需选择 12 槽的背板模块 (型号：ASD-W3-BP12)。
模块 型号 单一模块背板槽数需求 模块数量 总槽数需求
电源模块 ASD-W3-PM-8023 2 1 2
驱动模块
ASD-W3-DM302S-AS 2 1 2
ASD-W3-DM202S-AS 2 1 2
ASD-W3-DM072D-AS 1 1 1
ASD-W3-DM022D-AS 1 2 2
ASD-W3-DM012D-AS 1 1 1
控制模块 ASD-W3-CM12E-S 1 1 1
ASDA-W3 产品型号说明
1-23
1
1.4 ASDA-W3 各部名称
1.4.1 电源模块
(1)
(2)
(3)
(4-1)
(5)
(6)
AC400V 8kW
(4-2)
(5)
(6)
(1)
(2)
电源模组 ASD-W3-PM804N-R2
编号 名称 说明
(1) RUN 灯 电源模块正常运作时亮灯。
(2) ERR 灯 电源模块发生异常或异警时亮灯。
(3) L1C、L2C 控制回路电源；供给单相电源(200 ~ 240 VAC，50/60 Hz 电源)。
(4-1)
R、S 主回路电源；连接于单相电源(200 ~ 240 VAC，50/60 Hz 电源)。
R、S、T 主回路电源；连接于三相电源(200 ~ 240 VAC，50/60 Hz 电源)。
(4-2) R、S、T、N 主回路电源；连接于三相四线电源，Y 型接法 (350 ~ 415 VAC，50/60 Hz 电源)。
(5) P3、C 连接外部回生电阻。
(6) 接地螺丝 连接电源地线。
产品型号说明ASDA-W3
1-24
1
1.4.2 驱动模块
(1)
(2)
(3)
(4)
(5)
(6)
(7)
上视图
上视图
编号 名称 说明
(1) RUN 灯 驱动模块正常运作时亮灯。
(2) ERR 灯 驱动模块发生异常或异警时亮灯。
(3) CN5 第二组位置反馈信号接头。
(4) CN2 第一组位置反馈信号接头。
(5) U、V、W
连接至马达动力线(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。
(6) 接地螺丝 连接至马达地线。
(7) CN10 STO 功能。
ASDA-W3 产品型号说明
1-25
1
1.4.3 控制模块
(1)
(2)
(4)
(6)
(7)
(3)
(5)
(8)
(9)
上视图
上视图
编号 名称 说明
(1) RUN 灯 EtherCAT 状态机进到 Operational (OP)状态时亮灯。
(2) ERR 灯 电源模块、驱动模块或控制模块发生异常或异警时亮灯。
(3) RDY 灯 控制模块与所有驱动模块皆可正常运作时亮灯。
(4) CN11 尚未支持。
(5) CN4
Ethernet 通讯端口，依据 TCP Port 的设定，选择使用标准 Modbus TCP 通讯
或 ASDA-Soft 专用通讯。
(6) CN6
EtherCAT 高速通讯网络孔，IN 接口连接上位机或上一组 W3，OUT 接口连接
下一组 W3 或无连接。
(7) CN1 输出/输入信号接口，连接至可程控器(PLC)或控制 I/O。
(8) 旋钮 通过此旋钮更改面板中的设定，此旋钮有七个自由度。
(9) CN10 STO 功能。
产品型号说明ASDA-W3
1-26
1
1.4.4 背板模块
(1)
(3)
(2)
编号 名称 说明
(1) 吊挂孔 请先将 M5 螺丝锁附至机柜中，挂上背板后再压紧螺丝。
(2) 模块锁附孔 使用 M5 螺丝将模块锁附至背板上。
(3) 背板锁附孔 使用 M5 螺丝将背板锁附至机柜中。
注：安装说明请参考第二章。
2-1
安装
在安装产品前，用户可依照此章节提到的储存及安装环境条件、注意事项来进行安装。另外，本
章节说明了断路器、电磁接触器与保险丝建议规格、电磁干扰滤波器选型和回生电阻介绍、线材
的使用，以及马达安全预防措施。
2.1 储存环境条件································································································· 2-2
2.2 安装环境条件································································································· 2-3
2.3 安装方向与空间······························································································ 2-4
2.4 模块安装······································································································· 2-5
2.4.1 安装前注意事项······················································································· 2-5
2.4.2 方法一：先组装 W3 后再安装至机柜···························································· 2-7
2.4.3 方法二：于机柜中逐一安装······································································ 2-10
2.5 断路器、电磁接触器与保险丝建议规格表··························································· 2-13
2.6 铁氧体磁环·································································································· 2-14
2.7 EMC 安装条件······························································································ 2-15
2.7.1 电磁干扰滤波器 (EMI Filter) ···································································· 2-16
2.8 回生电阻的选择方法······················································································ 2-18
2.9 电磁抱闸的使用···························································································· 2-21
2.10 线材的使用 ································································································ 2-22
2.11 马达安全预防措施························································································ 2-23
2.11.1 马达动作、状态的故障分析排除 ······························································ 2-25
2.11.2 马达安装方向注意事项 ·········································································· 2-26
2.11.3 使用油封马达的注意事项 ······································································· 2-27
2.11.4 马达安装对手件的注意事项 ···································································· 2-28
2.11.5 马达油水对策注意事项 ·········································································· 2-30
2.11.6 抑制伺服马达温升的措施 ······································································· 2-31
2
