1．1 Product brief introduction
交流伺服技术自八十年代初发展至今，技术日臻成熟，性能不断提高，现已广泛应用于数控机床、印刷包装机械、纺织机械、自动化生产线等自动化领域。
From the 1980’s, AC Servo technology have been developed and performance improved, nowadays widely apply to automation area, such as numerical control machine, package printing machine, textile machinery, automatic production line etc.
SDXXX系列交流伺服是本公司自主研发的新一代交流伺服驱动器，主要采用最新的IRMCK201作为核心运算单元，并采用了复杂可编程器件EPLD及三菱智能功率模块，具有集成度高，体积小，响应速度快，保护完善，可靠性高等一系列优点。适用于高精度的数控机床、自动化生产线、机械制造业等工业控制自动化领域。
SDXXX series is our newly researched and developed generation of AC Servo drive, which with core arithmetic element of IRMCK201, complicated programmable device of EPLD and Mitsubishi intelligent power mode, have advantages of high integration density, small size, fast response speed, perfect protection, high reliability etc. Applicable to automatic industry control area, like high-precision numerical control machine, automatic production line, machine manufacture etc.
与以往驱动系统相比，SDXXX交流伺服系统具有以下优点：
Comparing to former drive system, SDXXX AC Servo System has such advantages below
★ 伺服电机自带编码器，位置信号反馈至伺服驱动器，与开环位置控制器一起构成
.
半闭环控制系统。
★ Servo drives provide electrical outputs to servo motors in Semi-Closed loop motion
control systems which use positional feedbacks to servo drive.
★ 调速比为1：5000，从低速到高速都具有稳定的转矩特性。
★ Speed ratio is 1：5000, from low speed to high speed, all have steady torque
characteristics.
★ 伺服电机最高转速可达5000rpm，回转定位精度1/10000r（注：不同型号电机
最高转速不同）。
★ Servo motor can reach to maximum speed 5000rpm, turning positioning accuracy
1/10000r （PS：Different model of motor have different maximum speed）。
★ 通过修改参数可对伺服系统的工作方式、运行特性做出适当的设置，以适应不同
的要求。
★ By modifying parameters can adjust settings of operation mode and characteristics,
to meet different requirements.
★ 改进的空间矢量控制算法，比普通的SPWM产生的力矩更大，噪音更小。
★ Improved space vector control algorithm can produce larger torque than normal
SPWM, and less noise.
★ 高达3 倍的过载能力，带负载能力强。
★ With triple overload capacity, strong load capacity.
★ 完善的保护功能：过流，过压，欠压和编码器故障等保护。
★ Perfect functional protection of over current, over voltage, under voltage and coder
faulty.
.
★ 监视功能允许显示18个参数状态，包括位置误差，电机转速、反馈脉冲、指令脉
冲、电机电流、报警记录等。
★ Monitoring function allow to display 18 parameter status, include position error,
motor speed, pulse feedback, command pulse, motor current, warning recorder etc.
★ 高适应性，能够适应高速高精度电机，可以配套2~8磁极,400-6000线编码器的
各型号电机。
★ High applicability, can apply to high speed high-precise motor, and can fit up with
different types of motors of 2~8 magnetic pole, 400-6000 coder.
1．2 型号意义 Model Meaning
1．伺服驱动器型号Servo drive model
S D 30 MT
Function code （M：provide analog or digital control system） 功能代码（M：数字量与模拟量兼容）
IPM Module rated current（15/20/30/50/75A）
采用空间矢量调制方式(SVPWM)的交流伺服驱动器 AC Servo Drive which use space vector modulation system
Chapter 2 Installation
.
【注意】
☆ 产品的储存和安装必须满足环境条件要求。Stock and installation must meet environmental condition requirements.
☆ 产品的安装需要防火材料，不得安装在易燃物上面或附近，防止火灾。Fire proof material is needed for installation, is not allowed to install on or near inflammable substance, to avoid fire.
☆ 伺服驱动器须安装在电气控制柜内，防止尘埃、腐蚀性气体、导电物体、液体及易燃物侵入。Servo drive must be installed inside the electrical control equipment, avoid of dust, aggressive gas, electric conduction subjects or fluids, inflammable and explosive substances.
☆ 伺服驱动器和伺服电机应避免振动，禁止承受冲击。Servo drive and servo motor should prevent vibration, prohibit shock.
☆ 严禁拖拽伺服电机电线、电机轴和编码器。Prohibit towing the wire, motor shaft and coder
2．1 安装场合 Installation site
◎ 电气控制柜内的安装Install inside the electricity control system
驱动器的使用寿命与环境温度有很大的关系。电气控制柜内部电气设备的发热以及控制柜内的散热条件，都会影响伺服驱动器周围的温度，所以在考虑机箱设计时，应考虑驱动器的散热冷却以及控制柜内的配置情况，以保证伺服驱动器周围环境温度
.
在55℃以下，相对湿度95%以下。长期安全工作温度在45℃以下。
Environmental temperature has great impacts on the Servo drive life span.
Heat output condition inside the control system and internal electrical equipments heating would impact servo drive surrounding temperature, so drive heat-sink cooling and control system internal configuration should be considered while designing, to assure servo drive surrounding temperature is under 55℃, relative humanity below 95%, long time safe working temperature under 45℃.
◎ 伺服驱动器附近有发热设备 servo drive nearby heating equipments
伺服驱动器在高温条件下工作，会使其寿命明显缩短，并易产生故障。所以应保证伺服驱动器在热对流和热辐射的条件下周围湿度在55℃以下。
If Servo drives working under high temperature, life span would shorten obviously and tempt to go out of order. So should make sure under the condition of heat convection and emission, relative humanity surrounded the servo drive below 55℃
◎ 伺服驱动器附近有振动设备 Servo drive nearby vibratory equipments
采用各种防振措施，保证伺服驱动器不受振动影响，振动保证在0.5g（4.9m/s2）以下。Take all kinds of shock proof measures, to assure servo drive do not affected by
vibration, and keep vibration at 0.5g（4.9m/s2）.
◎ 伺服驱动器在恶劣环境下使用 Servo drive works in severe environment
伺服驱动器在恶劣环境下使用时，接触腐蚀性气体、潮湿、金属粉尘、水以及加
.
工液体，会使驱动器发生故障。所以在安装时，必须采取防护措施，保证驱动器的工作环境。If the Servo drives working under severe environment, aggressive gas, moisture,
metal dust, water and processing fluids, would lead to servo drive errors. So while installation, protection measures must be taken to guarantee the working environment.
◎ 伺服驱动器附近有干扰设备 Servo drive nearby jamming equipment
伺服驱动器附近有干扰设备时，对伺服驱动器的电源线以及控制线有很大的干扰影响，易使驱动器产生误动作。可以加入噪声滤波器以及其它各种抗干扰措施，保证驱动器的正常工作。注意加入噪声滤波器后，漏电流会增大，为了避免这种情况，可以使用隔离变压器。特别注意驱动器的控制信号线很容易受到干扰，要有合理的走线和屏蔽措施。Jamming equipments nearby servo drive would disturbing servo drive
power lead and control wire so as to lead to wrong operation, in order to assure servo drive normal working, noise filter and other interdiction countermeasures could apply to use. Please notice using noise filter would increase leakage current, in order to prevent such situation, isolation transformer is available. It is need to pay extra attention that command signal wire is easy to be disturbed; reasonable routing and shield measurements are needed.
2．2 驱动器安装 Servo drive installation
.
Note：
☆ 伺服驱动器必须安装在保护良好的电柜内。Servo drive must be installed inside well protected electrical control system.
☆ 伺服驱动器必须按规定的方向和间隔安装，并保证良好的散热条件。Servo drive must be installed according to regulated direction and inter space, meanwhile keep good heat output condition.
☆ 不可安装在易燃物体上面或附近，防止火灾。Servo drive cannot be installed on inflammable substances or nearby to prevent fire.
1. 安装环境 Installation environment （1）防护 Protection
伺服驱动器自身结构无防护，因此必须安装在防护良好的电柜内，并防接触腐蚀性、易燃性气体，防止导电物体、金属粉尘、油雾及液体进入内部。
Servo drive has no protective structure, so installed into well protected electricity control system is a must, and avoid of contact with corrosive and flammability gas, prevent electric conduction substances, metal dust, oil mist and fluids inside. （2）温湿度 Humiture
环境温度0－50℃，长期安全工作温度在45℃以下，相对湿度在90%以下，并应保证良好的散热条件。Environmental temperature 0－50℃, long time working temperature under 45℃, relative humidity below 90%, meanwhile to assure well heat output condition.
.
（3）振动与冲击Vibration and Shock
驱动器安装应避免振动，采取减振措施控制振动在0.5g（4.9m/S2）以下，驱动器安装应不得承受重压和冲击。Servo drive installation should avoid vibration, taking vibration absorbing measure to keep it under 0.5g（4.9m/S2）, servo drive installation cannot bear stress and shock.
2、通风间隔 Ventilation inter space
3、安装方法 Method of Installation （1）安装方式 Method of installation
.
电机采用凸缘安装方式，电机安装方向任意。Motor installation adopted flange mounting, in any direction.
（2）安装注意事项 Installation announcements
◎ 拆装带轮时，不可敲击电机或电机轴，防止损坏编码器。应采用螺旋式压拔
工具拆装。While dismounting belt wheel, don’t knock the motor or motor shaft, avoid to damage coder, should dismounting by screw type tools.
◎ 电机不可承受大的轴向，径向负荷。建议选用弹性联轴器连接负载。Motor cannot afford heavy thrust load and radial load. Suggest to choose resilient coupling to connect load.
◎ 固定电机时需用止松垫圈紧固，防止电机松脱。Use Anti-loosing washer to motor fixed, prevent the motor getting loose.
4、安装尺寸 Mounting dimensions
. R2.5全数字交流伺服单元 13139信号插头高度26信号线弯曲高度退出 减小 增加 确认型号：SD15MTPERSTWUrtVCN2控制信号输入60.585 CN1电机信号反馈177198 Diagram 2-1: SD15MT Mounting Dimensions
. R2.5全数字交流伺服单元 14839信号插头高度26信号线弯曲高度退出 减小 增加 确认型号：SD20MTPERSTWUrtVCN2控制信号输入60.5.5 图2-2: SD20MT安装尺寸 R2.5全数字交流伺服单元CN1电机信号反馈177198 16839信号插头高度26信号线弯曲高度退出 减小 增加 确认型号：SD30MTPERSTWUrtVCN2控制信号输入CN1电机信号反馈60.595177198 . 图2-3: SD30MT安装尺寸 R2.517226信号插头高度信号线弯曲高度46全数字交流伺服单元退出 减小 增加 确认tUVWCN2控制信号输入CN1电机信号反馈rRSTPE警告PE请按说明书安装、接线、使用PE端必须可靠接地交流输入必须经隔离变压器非专业人员请勿拆开维修80115 图2-3: SD50MN安装尺寸 2442 .
.
Chapter 3 Connection
【Attention】
☆ 外部交流电必须经隔离变压器后才能接到伺服驱动器上。External Alternating Current cannot directly connect to Servo drive, must be connected through isolation transformer.
☆ 必须按端子电压和极性接线，防止设备损坏或人员伤害。Connection must be done strictly basing on terminal voltage and voltage polarity, to prevent equipment damage or injuries.
☆ 驱动器和伺服电机必须良好接地。Servo drive and servo motor must be well connected to the earth.
☆ U、V、W与电机绕组必须一一对应，否则会损坏电机或驱动器。U、V、W and Machine winding must be put into one-to-one relationship, otherwise motor or drive would be damaged.
☆ 电缆及导线须固定好，并避免靠近驱动器散热器和电机，以免因受热降低绝缘性
能。Cable and leading wire must be fixed well, and don’t close to servo drive radiator and motor, otherwise the heat would reduce the level of insulating property.
☆ 驱动器内有大容量高压电解电容，在断电后5分钟内不可触摸端子或导线。 Do not touch the terminal or leading wire within 5 minutes after power cuts, Because there is large capacity high voltage electrolytic capacitor inside the servo drives.
3．1 标准接线：Standard Connection
本交流伺服驱动的接线与控制方式等有关。This Servo Drive connection is related to control mode etc.
1．在位置/模拟量控制模式下SD15MT/SD20MT/SD30MT/SD50MN请按照： 图3-1：SD15MT位置/模拟量控制方式（华大电机、温岭宇海、常州常华、常州新月）
标准接线。
.
图3-2 ：SD15MT位置/模拟量控制方式(武汉登奇)标准接线
图3-3 ：SD15MT位置/模拟量控制方式（南京苏强SQA系列）标准接线 图3-4： SD20MT/SD30MT/SD50MN位置/模拟量控制方式（华大电机、温岭宇
海、常州常华、常州新月）标准接线
图3-5： SD20MT/SD30MT/SD50MN位置/模拟量控制方式（武汉登奇） 标准
接线
图3-6： SD20MT/SD30MT/SD50MN位置/模拟量控制方式（南京苏强SQA 系
列）标准接线
2．配线 Wiring
（1）电源端子TB Power supply Terminal
⊙ R、S、T、U、V、W各端子线径必须≥1.5mm²（AWG14－16），r、t端
子线径需≥1.0mm²（AWG16－18）。Terminal lead wire diameter: R、S、T、U、V、W≥1.5mm²（AWG14－16），r、t≥1.0mm²（AWG16－18）。 ⊙ PE接地线的线径为2mm²以上。驱动器和伺服电机必须在驱动器的PE端
子上一点接地，接地电阻应＜100Ω。
PE earth lead wire diameter＞2mm². Servo drive and servo motor must be connecting to earth through the point on the PE terminal. ⊙ 本机接线端子采用JUT-1.5－3冷压预绝缘端子，务必连接牢固。 This connection terminal are JUT-1.5－3 cold molding/pressing isolated terminal, be sure to secure fixed.
⊙ SD15M应当采用单相隔离变压器供电，SD20MN、SD30MN，SD50MN，
SD75MN应当采用三相隔离变压器供电，以减少电机伤人之可能性。在市
.
电与隔离变压器之间最好能加装噪声滤波器，提高系统之抗干扰能力。SD15M power supply should use single-phase isolation transformer, SD20MN、SD30MN，SD50MN，SD75MN power supply should use three-phase isolation transformer, to reduce possibility of personnel harming by motor.
It is better to install noise filter between commercial power and the
isolation transformer, to increase the system capacity of resisting disturbance.
⊙ 请安装非熔断型（NFB）断路器，使驱动器故障时能及时切断外部电源。Please install non-burn out (NFB) circuit breaker, so that to cut off external power suppler if drive error happens.
（2）控制信号CN2端子、反馈信号CN1端子
Signal Control Terminal CN2、 Signal Feedback Terminal CN1
⊙ 线径：采用屏蔽电缆（最好选用绞合屏蔽电缆），线径≥0.12 mm²，屏蔽层
须接FG端子。 Wire
diameter:
use
H-cable/Screened
Cable
(twisted
H-cable/screened cable is better), wire diameter≥0.12 mm², shielding layer must connect to FG terminal.
⊙ 线长：电缆长度尽可能短，控制信号CN2电缆不超过3米，反馈信号CN1
电缆长度不超过20米。
.
Length of wire: cable length should as short as possible, which of
Signal Control cable CN2 cannot in excess of 3 meters, Signal feedback cable CN1 cannot in excess of 20 meters. ⊙ 布线：远离动力线路布线，以防干扰串入。
Wiring: Keep away from power line while wiring, in order to prevent interference occurs.
⊙ 请给相关线路中的感性元件（线圈）安装浪涌吸收元件：直流线圈反向并联
续流二极管，交流线圈并联阻容吸收回路。
Please install surge absorption element for sensitive element
(windings) in related line: Direct circuit windings inverse parallel connected to fly-wheel diode, Alternating circuit windings install in parallel to resistor-capacitor loop up.
.
NFB单相AC220VNCR S伺服驱动器UVWPE伺服电机23 41CN2 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGNCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDY1ALM15COIN14DG3AOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25机壳地CN15617181234241223112210219208197131614154.7K+-10KA B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP23475869101311141215Z0VFGFG1220220 图3-1：SD15MT位置/模拟量控制方式（华大电机、温岭宇海、常州常华、常州新月）标准接线
.
NFB单相AC220VNCR S伺服驱动器UVWPE伺服电机23 41CN2 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGNCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDY1ALM15COIN14DG3AOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25机壳地CN15617181234241223112210219208197131614154.7K+-10KA B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP121323451617671011Z0VFGFG1220220
图3-2 ：SD15MT位置/模拟量控制方式(武汉登奇)标准接线
.
NFB单相AC220VNCR S伺服驱动器UVWPE伺服电机23 41CN2 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGNCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDY1ALM15COIN14DG3AOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25机壳地CN15617181234241223112210219208197131614154.7K+-10KA B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP234567101112131415Z0VFGFG1220220 图3-3 ：SD15MT位置/模拟量控制方式（南京苏强SQA系列）标准接线
.
NFB三相AC220V或单相AC220VNCR STrtCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDY1ALM15COIN14DG3AOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25伺服驱动器UVWPE伺服电机23 41CN24.7KCN1561718123424122311221021920819713161415 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGN+-10KA B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP23475869101311141215Z0VFGFG1220220机壳地 图3-4：SD20MT/SD30MT/SD50MN位置/模拟量控制方式 (华大电机、温岭宇海、
常州常华、常州新月）标准接线
.
NFB三相AC220V或单相AC220VNCR STrtCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDYALMCOINDG115143伺服驱动器UVWPE伺服电机23 41CN24.7KCN1561718123424122311221021920819713161415 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGN+-10KAOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25机壳地A B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP121323451617671011Z0VFGFG1220220 图3-5：SD20MT/SD30MT/SD50MN位置/模拟量控制方式（武汉登奇）标准接线
.
伺服电机NFB三相AC220V或单相AC220VNCR STrtCOM+8INH20SON21ALRS9CLE23RSTP4Vin12Vingnd13SRDYALMCOINDG115143伺服驱动器UVWPE23 41CN24.7KCN1561718123424122311221021920819713161415 DC 12～24V脉冲指令禁止伺服使能报警清除偏差计数器清零超程保护模拟量输入端模拟量输入地伺服准备好伺服报警定位完成输出公共端编码器反馈至系统A相信号编码器反馈至系统B相信号编码器反馈至系统Z相信号编码器Z相输出编码器Z相输出公共端位置指令PULS位置指令SIGN+-10KAOUT+17AOUT-16BOUT+22BOUT-10ZOUT+24ZOUT-11CZ2CZCOM5PULS+18PULS-6SIGN+19SIGN-7FG25机壳地A B 5V5V5V5V0V0V0V0VA+A-B+B-Z+Z-U+U-V+V-W+W-MHP234567101112131415Z0VFGFG1220220 图3-6：SD20MT/SD30MT/SD50MN位置/模拟量控制方式（南京苏强SQA系列）标准接线
.
.
3．2 SD15MT/SD20MT/SD30MT/SD50MN Terminal Function
1．端子配置 Terminal Configuration
图3-7为伺服驱动器接口端子配置图。其中TB1为SD15MT/ SD20MT/30MT/端子排, TB2为50MN端子排；CN2为DB25接插件，插座为针式，插头为孔式；CN1也为DB25接插件，插座为孔式，插头为针式。
Diagram 3-7 is the interface terminal set up sheet of servo drive, in which, TB1 is SD15MT/ SD20MT/30MT terminal strip; TB2 is 50MN terminal strip; CN2 is DB25 socket connector with pin-on socket and hole type plug; CN1 is also DB25 socket connector, which with hole type socket and pin-on plug.
说明：在模拟量速度控制模式时：Vin为模拟量输入端，Vingnd为模拟量输入地。AOUT+、AOUT-、BOUT+、BOUT-、ZOUT+、ZOUT-是编码器反馈到系统的信号。
Explanation: while in analog quantity speed control model: Vin is the input terminal, Vingnd is the input port/address. AOUT+、AOUT-、BOUT+、BOUT-、ZOUT+、ZOUT- are system feedback signals from the coder.
.
TB1PE RSTWVUrtTB2rtUVWRSTPECN21 SRDY14COIN/SCMP2CZ15ALM3DG16AOUT-4RSTP17AOUT+5CZCOM18PULS+6PULS-19SIGN+7SIGN-20INH8COM+21SON9ALRS22BOUT+10BOUT-23CLE/SC111ZOUT-24ZOUT+12Vin25FG13VingndCN113251224112310229218207196185174163152141MHPNCA-A+B-B+Z-Z+U-U+V-V+W-W++5V+5V+5V+5V0V0V0VFG0VFG0VDB25
DB25Diagram图3-7：SD15MT/SD20MT/SD30MT/SD50MN伺服驱动器接口端子配置图Servo drive interface terminal configuration
2． 电源端子TB2 Power supply terminal TB2
.
Sheet 3.1 电源端子TB Power supply terminal
端子号Terminal No TB－1 TB－2 端子记号信号名称 Terminal Signal Name Marking R S 主回路电源 Primary Loop Power supply 单相或三相 TB－3 T Single-phase or Three-phase don’t connect with motor outlet terminal U、V、W 接地端子 earth terminal 接地电阻﹤100欧; earth resistance﹤100ohm 系统接地system TB－4 PE earthed motor output and power supply input connect to earth in on public point. TB－5 TB－6 U 伺服电机输出V Servo motor connected one-to-one corresponding to motor TB－7 W output terminal U、V、W TB－8 ｒ 控制电源 Control 控制回路电源输入端子～220V 50Hz Control 必须与电机U、V、W端子对应连接 Must be 伺服电机输出端子 Servo motor outlet terminal 伺服电机输出和电源输入公共一点接地Servo 主回路电源端子 Primary loop power supply terminal ～220V 50HZ 注意：不要同电机输出端子U、V、W连接 Notice: 功能 Function .
Power TB－9 t loop power supply input terminal～220V 50Hz 单相Single-phase 备注：在SD15MT的TB1中不用接。PS: TB1 in the SD15MT don’t need to connect with.
3．控制端子CN2 Control Terminal CN2
控制方式简称：Control mode for short:
P代表位置控制方式 P represents position control mode
S代表模拟量速度控制方式 S represents analog speed control mode
Sheet 3.2 控制信号输入/输出端子CN2 Control Signal input/output
terminal
端子号Terminal No. CN2－8 输入端子的电源正极Power anode 信号名称 Signal Name 记号 Marking COM＋ Type1 I/O 方式Mode 输入端子的电源正极 用来驱动输入端子的光电耦合器DC12～24V，电流≥100mA Power supply anode of the input terminal is used to drive the photo isolator of input terminal DC12～24V，Current≥100mA CN220 －指令脉冲禁止command INH Type1 P 位置指令脉冲禁止输入端子position command pulse inhibited input terminal 功能Function supply of the Input terminal .
pulse inhibited INH ON：指令脉冲输入禁止 command pulse input inhibited INH OFF：指令脉冲输入有效 command pulse input valid CN221 －伺服使能 Servo SON Enable Type1 P,S 伺服使能输入端Servo enabling input terminal SON ON：允许驱动器工作enable to work SON OFF：驱动器关闭，停止工作drive close and stop working, 电机处于自由状态 motor in free state 注1：当从SON OFF打到SON ON前，电机必须是静止的 Note1: before switch SON OFF to SON ON, must keep the motor silent 注2：打到SON ON后，至少等待5ms再输入命令 Note2: After switch to SON ON, please wait at least 5ms later to input command 注3：如果用PA27打开内部使能，则SON信号不检测。Note3: If using PA27 to open internal, SON signal will not detect. .
CN2－9 报警消除Alarm ALRS clear Type1 P,S 报警清除输入端子alarm clear input terminal ALRS ON：清除系统报警 clear system alarm ALRS OFF：保持系统报警 keep system alarm CN223 －偏差计数器清零deviation counter 0 reset CLE Type1 P 位置偏差计数器清零输入端子position deviation counter 0 reset input terminal CLE ON：位置控制时，位置偏差计数器清零while in position control, position deviation counter 0 reset CN212 －模拟量输入端analog terminal input Vin Type4 S 外部模拟速度指令输入端子，单端方式，输入阻抗10千欧姆，输入范围－10V～＋10V。External analog velocity instruction input terminal, single-end mode, input impedance, 10Kilohm, input range－10V～＋10V. CN213 －模拟量输入地analog input Vingnd 模拟输入的地线。Analog input earth wire port/address CN2－1 伺服准备好输出 SRDY Servo ready to Type2 P,S 伺服准备好输出端子ready to output terminal .
output SRDY ON：控制电源和主电源正常，驱动器没有报警，伺服准备好输出ON Control power and primary power are normal, drive do not warning, servo is ready to output ON SRDY OFF：主电源未合或驱动器有报警，伺服准备好输出OFF Primary power not connected or drive warning, servo is ready to output OFF CN215 －伺服报警输出Servo warning output ALM Type2 P,S 伺服报警输出端子。可以用PA27参数来改变报警输出电平高或低有效。Servo warning output terminal. By changing Parameter PA27 to change the warning output level, to know which is effective, high level or low level CN214 －定位完成输出 COIN position complete output Type2 P 定位完成输出端子position complete output terminal COIN ON：当位置偏差计数器数值在设定的定位范围时，定位完成输出ON When numeral value of the position deviation counter in the set position range, the position complete output ON .
CN2－4 超程保护over RSTP travel protection Type1 P,S 外接超程保护信号，信号有效时产生Err—32报警 external link over travel protection signal, while signal is effective the Err—32 occur to alarm/warning CN2－3 输出端子 的公共端DG 控制信号输出端子（除CZ外）的地线公共端earth wire common port of the control signal output terminal (except CZ ) Common port of terminal CN217 CN216 CN222 CN210 CN224 CN211 CN2－2 编码器Z相集电CZ Type6 P,S －－编码器Z相信号Coder phase-Z signal ZOUT－ P,S ZOUT＋ Type5 P,S －－－－编码器A相信号 AOUT＋ Coder phase-A signal 编码器B相信号Coder phase-B signal BOUT－ P,S BOUT＋ Type5 P,S AOUT－ Type5 P,S output 1． 编码器A、B、Z信号差分驱动输出（26LS31输出，相当于RS422）； Differential mode drive output of Coder A、B、Z (26LS31 output, is equivalent to RS422) 2． 非隔离输出（非绝缘）。 Non-isolated output (Uninsulated) 1． 编码器Z相信号由集电极开路输出，编码 .
极开路输出Coder phase-Z open-collector output 器Z相信号出现时，输出ON（输出导通），否则输出OFF（输出截止）； Coder phase-Z signal output through open-collector, when coder phase-Z signal appears, output ON (output conducted), if signal not appears, output OFF ( output stop) 2． 非隔离输出（非绝缘）；Non-isolated output (Uninsulated) 3． 在上位机，通常Z相信号脉冲很窄，故请用高速光电耦合器接受。 , Normally the Phase-Z signal pulse is very narrow, so please use high speed photo coupler to receive. CN2－5 编码器Z相输出的公共端CZCOM 编码器Z相输出端子的公共端Common terminal of coder phase-Z output terminal Common terminal of Coder phase-Z CN218 －指令脉冲PLUS输入command PULS＋ Type3 P 外部指令脉冲输入端子external command pulse input terminal .
CN2－6 pulse input PLUS PULS－ 注1：用PA--9设定脉冲输入方式Note1: in the way of CN219 －指令脉冲SIGN输入command pulse input SIGN＋ Type3 P 1）指令脉冲＋符号方式 2）CCW/CW指令脉冲方式 CN2－7 SIGN SIGN－ CN225 －屏蔽地线screen FG earth wire 屏蔽地线端子earth wire screen terminal
4．反馈信号端子CN1 Signal feedback terminal CN1
Sheet 3.3 反馈信号端子CN2
端子号Terminal No. CN1－5 CN1－6 CN117 CN118 －－信号名称Signal Name 记号 5V电源Power ＋5V supply 端子记号Terminal Marking I/O 方式 伺服电机光电编码器用＋5V电源；电缆长度较长时，应使用多根芯线并联，减小线路压降。Servo photoelectric motor encoder 颜色Color 功能Function .
CN1－1 CN1－2 CN1－3 CN1－4 CN116 CN124 －电源公共地0V Power supply common address use＋5V power supply; if the cable is long, please use several centre yarn connection in parallel, in order to reduce the voltage drop －编码器A＋输入A＋ Coder Input A＋Type4 与伺服电机光电编码器A＋相连接 Connect with Servo motor photoelectric encoder A＋ CN112 －编码器A－输入A－ Coder Input A－ 与伺服电机光电编码器A－相连接Connect with Servo motor photoelectric encoder A－ CN123 －编码器B＋输入B＋ Coder Input B＋Type4 与伺服电机光电编码器B＋相连接Connect with Servo motor photoelectric encoder B＋ .
CN211 －编码器B－输入B－ Coder Input B－ 与伺服电机光电编码器B－相连接Connect with Servo motor photoelectric encoder B－ CN222 －编码器Z＋输入Z＋ Coder Input Z＋Type4 与伺服电机光电编码器Z＋相连接Connect with Servo motor photoelectric encoder Z＋ CN210 －编码器Z－输入Z－ Coder Input Z－ 与伺服电机光电编码器Z－相连接Connect with Servo motor photoelectric encoder Z－ CN121 －编码器U＋输入U＋ Coder Input U＋Type4 与伺服电机光电编码器U＋相连接Connect with Servo motor photoelectric encoder U＋ .
CN1－9 编码器U－输入U－ Coder Input U－ 与伺服电机光电编码器U－相连接Connect with Servo motor photoelectric encoder U－ CN120 －编码器V＋输入V＋ Coder Input V＋Type4 与伺服电机光电编码器V＋相连接Connect with Servo motor photoelectric encoder V＋ CN1－8 编码器V－输入V－ Coder Input V－ 与伺服电机光电编码器V－相连接Connect with Servo motor photoelectric encoder V－ CN119 －编码器W＋输入W＋ Coder Input W＋Type4 与伺服电机光电编码器W＋相连接Connect with Servo motor encoder photoelectric W＋ .
CN1－7 编码器W－输入W－ Coder Input W－Type4 与伺服电机光电编码器W－相连接Connect with Servo motor encoder photoelectric W－
.
3．3 I/O接口原理I/O Connector Principle
1．开关量输入接口Switched input value connector
图3-8 Type1 开关量输入接口Switched input value connecter
（1）由用户提供电源，DC12～24V，电流≥100mA； User supplied power, DC12～24V，Current≥100mA； （2）注意，如果电流极性接反，会使伺服驱动器不能工作。
Attention, if current polarity inverse connected, will lead to servo drive out of
service.
2．开关量输出接口Switched output value connector
图3-9 Type2 开关量输出接口Switched output value connector
（1）外部电源由用户提供，但是必需注意，如果电源的极性接反，会使伺服驱动器
损坏。User supplied external power, but must pay attention, if the power
.
polarity inverse connected, will lead to damage of servo drive. （2）输出为集电极开路形式，最大电流50mA，外部电源最大电压25V。因
此，开关量输出信号的负载必须满足这个限定要求。如果超过限定要求或输出直接与电源连接，会使伺服驱动器损坏。Open-collector output, maximum
current is 50mA, external power maximum voltage is 25V. Therefore, switched output value signal load must meet the requirement. If excess the requirement or output directly connect with power would lead to damage of servo drive.
（3）如果负载是继电器等电感性负载，必须在负载两端反并联续流二极管。如果续
流二极管接反，会使伺服驱动器损坏。If it is lagging load such as a relay,
two-terminal load must be reverse parallel connected with fly-wheel diode. Fly-wheel diode reverse connection will lead to damage of servo drive.
3．脉冲量输入接口 Pulse input value connector
Diagram 3-10 Type3 脉冲量输入接口的差分驱动方式Differential drive mode of
pulse input value connector
.
Diagram 3-11 Type3 脉冲量输入接口的单端驱动方式Single ended
drive mode of pulse input value connector
（1）为了正确地传送脉冲量数据，建议采用差分驱动方式；In order to accurately
transfer pulse values data, suggest to apply differential drive mode.
（2）差分驱动方式下，采用AM26LS31、MC3487或类似的RS422线驱动器；In
differential drive mode, please use AM26LS31、MC3487 driver or similar RS422 driver;
（3）采用单端驱动方式，会使动作频率降低。根据脉冲量输入电路，驱动电流10～
15mA，限定外部电源最大电压25V的条件，确定电阻R的数值。经验数据：VCC＝24V，R＝1.3～2k；VCC＝12V，R＝510～820Ω；VCC＝5V，R＝82～120Ω。
Single ended drive mode would reduce action frequency. Input electric current according to pulse value, drive current 10～15mA，limit external power maximum voltage at 25V, evaluate resistance R value. Rule of thumb data: VCC＝24V，R＝1.3～2k；VCC＝12V，R＝510～820Ω；VCC＝5V，R＝82～120Ω。
（4）采用单端驱动方式时，外部电源由用户提供。但必需注意，如果电源极性接反，
会使伺服驱动器损坏。User supplied power while in single ended drive mode. But
.
must pay attention that, power polarity inverse connection may lead to servo drive damage.
（5）脉冲输入形式详见表3.4 箭头表示计数沿，表3.5 是脉冲输入时序及参数。 Please check Sheet3.4 for Pulse input mode, the arrows represent
counting along,
Sheet 3.5 is pulse input time sequence and parameters.
表3.4 脉冲输入形式Pulse input mode
脉冲指令形式Pulse instruction type 脉 冲 列 Pulse train 符code PULS 号SIGN 0 指令脉冲＋符号Command pulse ＋ Code CCW脉冲列PULS CCW train Pulse SIGN 1 CCWPulse/ CCW脉冲脉冲 CCW CW 参数设定值Parameter settings .
CW脉冲列CW pulse train
pulse 表3.5 脉冲输入时序参数Pulse input time sequence parameter 参数parameters 差分驱动输入Differential drive input tck th tl trh trl ts tqck tqh tql tqrh tqrl tqs
>2uS >1uS >1uS <0.2uS <0.2uS >1uS >8uS >4uS >4uS <0.2uS <0.2uS >1uS 单端驱动输入 Single ended drive input >5uS >2.5uS >2.5uS <0.3uS <0.3uS >2.5uS >10uS >5uS >5uS <0.3uS <0.3uS >2.5uS .
图3-12 脉冲Pulse＋符号输入接口时序图Sign input connector time sequence
diagram（最高脉冲频率500kHz Maximum pulse frequency）
图3-13 CCW脉冲Pulse/CW脉冲输入接口时序图Pulse input connector time
sequence diagram（最高脉冲频率500kHz Maximum pulse frequency）
.
图3-14 伺服电机光电编码器输入接口Servo motor photoelectric coder input
connector
第四章 参 数Chapter 4 Parameters
【注意】Notice
☆ 参与参数调整的人员务必了解参数意义，错误的设置可能会引起设备损坏和人员
伤害。A person involved in parameter adjustment must understand the meaning of the parameter; faulty settings may lead to equipment damage and personnel injuries.
☆ 建议参数调整先在伺服电机空载下进行。Suggest to adjust parameters in zero load of the servo motor.
4．1 参数设置（PA）一览表 Parameter Setting Data Sheet
本交流伺服驱动器提供工作参数的显示及修改功能。This servo drive has display and modification function of working parameters.
备注：不同型号的驱动有不同的出厂值。操作EE—df可以调出驱动的出厂值。
Note: Different type of drive has different factory settings. Operate EE-df to find out
the factory settings of the drive.
表Sheet 4.1 参数一览表Parameter Data Sheet
.
参数号Parameter No. 参数名称Parameter Name 适用方式Applicable Mode 参数范围Parameter Range 出厂值Factory Settings 单位Units PA－01 控制方式Method Control P，S 1～3 1 PA－02 速度环比例常数(中、高速P，S 时)Velocity loop Ratio Constant (In Mid 10～1000 100 velocity、high velocity) PA－03 速度环积分常数(中、高速P，S 时)Velocity loop 10～1000 100 integral constant (In Mid velocity、high velocity) PA－04 加 速时间常数P，S ms 6～1530 6 Acceleration Time Constant PA－05 减速时间常数P，S 6～1530 6 ms Deceleration Constant Time .
PA－06 位置环增益Position loop Plus PA－07 位置环前馈系数Position loop feed P 10～500 160 0～100 10 forward P coefficient PA－08 默认显示内容1～15 1 Acquiescent content display P， S PA－09 位置指令脉冲方式选择Positional command P 1～2 1 pulse mode choosing PA－10 位置指令脉冲方向取反Positional command pulse choose inverse direction PA－11 位置超差检测范围Positional out-of-tolerant detection range P 1～2 1 *10脉冲Pulse P 1～3000 900 .
PA－12 位置超差忽略选项Positional out-of-tolerant neglect option PA－13 电机最大速度Motor maximum speed PA－14 速度反馈低通滤波器系数Speed low-pass coefficient PA－15 模拟速度指令零偏补偿值 Analog instruction zero-deviation building out value PA－16 模拟速度指令增益Analog instruction plus PA－17 模拟速度指令方向取反Analog instruction speed choose speed S 1～100 24 speed S feedback filter P 1～2 1 P，S 0～3000 2000 Rpm S 1～30 12 3000-3000 ～ S 1～2 2 inverse direction .
PA－18 电子齿轮分子Electronic gear numerator PA－19 电子齿轮分母Electronic gear denominator PA－20 电机过载系数Motor overload factor PA－21 备用 Standby PA－22 位置控制反馈低通滤波器系数Position control feedback low-pass P 1～32767 1 P 1～32767 1 P，S 1.0～3.0 2.5 P 0～200 50 filter coefficient PA－23 编码器报警的选择开关P，S Coder warning option switch PA－24 内部参数 inside P，S parameter PA－25 内部参数 inside P，S parameter PA－26 备用Standby 1～2 1 PA－27 使能信号选择及报警电平P，S 选择enable signal 0～3 0 choosing and warning .
level choosing PA－28 定位完成范围Position P，S complete range PA－29 电流环比例常数electric P，S current loop 500～5000 2400 脉Pulse 冲0～3000 10 proportional constant PA―30 电流环积分常数electric P，S current loop integral constant PA―31 备用Standby 0～100 13 300～2000 1000 PA－32 速度环增益变化率P，S Speed loop plus change rate PA－33 电机额定电流Motor P，S rated current PA－34 备用Standby 安培0～9.0 6.5 ampere PA－35 电机类型选择Motor P，S type choosing PA－36 速度环比例常数的最小值P，S （低速）Minimum value of speed loop 1～18 1～500 100 proportional constant .
(Low speed) PA－37 速度环积分常数的变化率P，S Change rate of speed loop integral constant PA－38 电机与IPM模块对应的P，S 系数 Motor and system correspondence IPM module in 15M：601 20MN:601 30MN:120 0～100 10 1～5000 2 50MN:1000 PA－39 低速时的电流环积分常数P，S electric current loop integral constant in low speed PA－40 速度环积分常数的最小值P，S （低速）Minimum value of speed loop integral constant (in low speed) PA－41 清除历史报警clear P，S historical records PA－42 自动零偏补偿选择S 1～2 1 warning 1～2 1 1～5000 1 1～1000 50 .
Automatic zero-deviation compensation choose PA－43 最大电流参数P，S Maximum current 1000～8190 8190 limitation parameter PA－44 备用Standby PA－45 备用Standby PA－46 备用Standby S S S 1～200 0～100 1～100 1 0 1 1～2 2 PA－47 误差清除CLE信号开关选择P Error dumping CLE signal option switch PA－48 脉冲禁止INH信号开关选择P Pulse inhibit INH signal option switch 1～2 2 PA－49 超程保护开关及电平选择P，S Over travel protection switch option and level option PA－50 伺服准备好电平选择P，S Servo option ready level 1～2 1 1～3 3 .
PA－51 备用Standby PA－52 备用Standby PA－53 备用Standby PA－54 备用Standby PA－55 备用Standby PA－56 备用Standby PA－57 备用Standby PA－58 备用Standby PA－59 备用Standby PA－60 备用Standby .
4．2 参数功能Parameter Function
PA－1：控制方式选择，通过此参数可以选择驱动器的控制方式。Control mode choosing, by this parameter to supply methods of choosing right drive control mode.
PA－1参数值 Parameter Value 1 2 位置控制方式Positional Control Mode 模拟量速度控制方式 Analog speed control mode 3 速度试运行控制方式 Speed trial run control mode 4 JOG试运行控制方式 JOG trial run control mode
对于位置控制方式，位置指令从脉冲输入口输入；对于模拟量速度控制方式，速度指令由输入端口的引脚输入，根据正、负电平（±10V）对应不同的速度；对于速度试运行控制方式，在SPEEDTEST状态下进行；对于JOG试运行控制方式，则可在JOGTEST方式下运行。
For positional control mode, positional instruction/command input from the pulse input port; for analog speed control mode, speed instruction/command input from the pin of input port, which match with different speed according to positive、negative level (±
控制方式Control Mode .
10V); for speed trial run control mode, should carry out in SEEDTEST states; for JOG trial run control mode, should carry out in JOGTEST states.
PA－2：速度环比例常数，通过此参数可以设定速度环调节器的比例增益。Speed loop proportional constant, by this parameter to set up proportional gain of speed loop adjustor.
本参数的设定值越高，增益越大，系统刚性也越大。参数的值请根据负载情况和驱动器默认参考值设定，在系统不振荡的情况下该参数应尽可能大。The higher Setting value is, the larger the proportional gain will be, and more rigidity the system will be. Please set parameter value according to condition of loading and default reference value of drive, try to make this parameter as large as possible in the condition of system non-oscillating.
PA－3：速度环积分常数，通过此参数可以设定速度环调节器的积分时间常数。Speed loop integral constant, by this parameter to set up integral time constant of the speed loop adjustor.
设定值越大，刚性越大。负载惯量越大，此值应越大。请根据负载情况和驱动器默认参考值设定，在系统不振荡的情况下该参数应尽可能大。
The higher setting value is, the more rigidity system will be. The higher inertia loading is, the higher setting value will be. Please set parameter value according to condition of loading and default reference value of drive, try to make this parameter as large as
.
possible in the condition of system non-oscillating.
PA－4：加速时间常数，该设定值设定的是电机从0rpm到1000rpm的加速时间。 Acceleration Time Constant, this value is for setting acceleration time of motor from 0rpm to 1000rpm.
PA－5：减速时间常数，该设定值设定的是电机从0rpm到1000rpm的减速时间。 Deceleration time constant, this value is for setting deceleration time of motor from 0rpm to 1000rpm.
PA－6：位置环增益，此参数用来设定位置环调节器的比例增益。Position loop plus is used to set up proportional gain of the position adjustor.
设定值约大，增益越高，刚性越大，在相同频率指令脉冲条件下，位置滞后量越小。数值过大将会导致振荡或超调。调试方法请参考最后一章。 The higher setting value is, the higher proportional gain will be, and more rigidity the system will be, and position lag value will be smaller in same frequency command pulse condition.
PA－7：位置环前馈系数，该参数用于位置环的前馈增益调整。Position loop feed
forward parameter, used to adjusting feed forward gain of position loop.
本参数设定值越大，会使得位置滞后量越小。设定值越小，响应将会越缓慢。The higher parameter setting is, the smaller position lag value will be; the lower parameter setting is, the response will be slower.
PA－8：默认显示内容，该参数用于设定驱动器在上电后默认的显示内容。
.
Default display content, this parameter is used to setting default display content of the drive after electrifying.
PA－9：脉冲方式选择，该参数用于设定驱动器默认的位置环脉冲输入方式。 Pulse mode choosing, this parameter is used to setting drive default position loop pulse input mode.
PA－9参数值 Parameter Value 1 位置控制脉冲输入方式
Position control pulse input mode 指令脉冲+方向Command pulse + direction 2 CCW脉冲/CW脉冲（双脉冲方式） CCW pulse/CW pulse (double pulse mode) PA－10：位置指令脉冲方向取反，该参数用于电机方向取反。Position command pulse choose reverse direction, this parameter is used to choosing reverse direction of the motor.
1：为电机正转，2：为电机反转。
1：motor co rotation，2：motor contra rotation。
PA－11：位置超差检测范围，该参数用于设定位置控制模式下的位置超差的脉冲范
围。如果电机实际的跟随误差大于此值，而且PA12＝1时，驱动将会发生Err—9号报警。Positional out-of-tolerant detection range, this parameter is used to setting positional out-of-tolerant pulse range in mode of position control. If the motor factual following error is
.
greater than this parameter value, meanwhile PA12＝1, the drive will occur error warning of Err—9.
PA－12：关闭位置误差忽略选项，该参数被设置为2时参数11将不起作用，位置超
差将不引起驱动器报警。Close position error neglect option, if set the parameter to 2, parameter 11 will be out of use and the position out-of-tolerant range will not lead to drive warning.
PA－13：最大速度，用于设定本驱动系统最高运行转速。本速度与运行方向无关。 Maximum speed, by which is used to set maximum running speed
of this drive system. The speed and running direction are unrelated.
PA－14：在模拟量控制（PA=2）时，速度反馈低通滤波器系数。
While in analog control of （PA=2）, speed feedback low pass filter
coefficient.
PA－15：对模拟量速度输入的零偏补偿量。可以用PA42=2自动补偿，也可以手动
补偿。（见调试方法）Zero-deviation compensation rate for analog speed input. Can use PA42=2 automatic compensation, or use manual compensation. (Please check Troubleshoot Method)
PA－16：设定模拟量速度输入模拟电压和电机实际运转速度之间的比例关系。 Settings of proportional relations between analog speed input voltage and factual running speed of the motor. PA－17：对模拟量速度控制时的电机方向取反控制。
Motor which is analog speed controlled choose reverse control
.
direction.
PA－18：电子齿轮分子，用于和PA－19一起设定位置指令脉冲的分频倍频比。在
位置控制模式下，通过对PA－18、PA－19的设置，可以很方便的和各种控制系统连接，可以达到理想的控制分辨率，即各种角度-脉冲关系。
Electronic gear numerator, together with PA－19 are used to set
frequency dividing and frequency doubling ratio of the position command pulse. In the position control mode, by setting PA－18、PA－19, to easily connected with all kinds of control systems, in order to reach to an ideal control resolution, that is all kinds of angular measures and pulse relationship.
PA－19：电子齿轮分母，配合PA－18使用.
Electronic gear denominator, using coordinate with PA－18. PA－20：电机过载系数，本参数用来位置、速度模式下电机运转时所能达到的
最大力矩。即过载系数。
Motor over load coefficient, by which is used to limit the maximum
torque when motor running in positional、speed model. That is overload coefficient.
PA－21：备用。Standby
PA－22：位置控制（PA1＝1）方式时，速度反馈低通滤波器系数。
Speed feedback low pass filter coefficient while in positional control
（PA1＝1）mode.
PA－23：编码器报警的选择开关。PA23=1时，允许Err—30和Err--25号报警发生，
.
PA23=2时，不产生Err—30和Err--25号报警。
Coder warning option switch. While in PA23=1, allow warning Err—3
and Err—25 happen; while in PA23=2, Err—30 and Err—25 warning do not happen.
PA－24：内部参数。Internal parameter PA－25：内部参数。Internal parameter PA－26：备用。Standby
PA－27：使能信号选择及报警电平选择。Enable signal option and warning level
option
PA－27参数值Parameter Value 0 1 2 3 外部使能External enable 内部使能Internal enable 外部使能External enable 内部使能Internal enable 使能信号 Enable Signal 报警信号输出 Warning signal output 低电平low level 低电平low level 高电平high level 高电平high level PA－28：定位完成范围。Position completed range.
本参数提供了位置控制方式下驱动器判断是否完成定位的依据，当位置偏差计数器内的剩余脉冲数小于或等于本参数设定值时，驱动器认为定位已完成，定位完成信号COIN ON,否则COIN OFF。
This parameter gives basis to drive which is in positional control mode, to justify whether position is completed or not. When
.
position deviation counter left pulse quantity is less than or equals to this set parameter, drive considers as position completed, and with signal COIN ON, otherwise with signal COIN OFF.
PA－29：电流环比例常数。一般情况下不允许客户修改。Current loop proportional constant. Normally it is not allowed to amend by customer.
PA－30：电流环积分常数。一般情况下不允许客户修改。Current loop integral constant. Normally it is not allowed to amend by customer. PA－31：备用。Standby
PA－32：速度环增益变化率。调整此值可以改变低速平稳性，不能太小，否则电机
会爬行。Speed loop gain/plus change rate. By adjusting this value can change
low speed stationarity, but this value can not be too small, otherwise motor will do line crawl.
PA－33：电机额定电流。Motor rated current PA－34：备用。Standby
PA－35：电机类型选择：Motor type choosing:
电机代号Motor code 1 3 8 9 10 11 12 13 14 17 适配电机Adaptive Motor 武汉登奇三对极2500线电机 武汉华大、温岭宇海、常州常华、常州新月四对极2500线电机 南京苏强两对极2500线80SQA电机 南京苏强两对极2500线130SQA4(4nm)电机 南京苏强两对极2500线130SQA5(5nm)电机 南京苏强两对极2500线130SQA6(6nm)电机 南京苏强两对极2500线130SQA7.5(7.5nm)电机 南京苏强两对极2500线130SQA10(10nm)电机 南京苏强两对极2500线130SQA15(15nm)电机 北京四通四对极2500线电机 .
18
常州前杨四对极2500线电机 PA－36：速度环比例常数的最小值。调整此值可以改变低速平稳性，不能太小，否
则电机会爬行。Minimum value of speed loop proportional constant. By adjusting this to change low speed stationarity, but this value can not
be too small, otherwise motor will do line crawl.
PA－37：速度环积分变化率。调整此值可以改变低速平稳性，不能太小，否则电机
会爬行。Speed loop integral change rate. By adjusting this to change
low speed stationarity, but this value can not be too small, otherwise motor will do line crawl.
PA－38：电机与IPM模块对应的系数。调试方法请参考最后一章
Coefficient of IPM module corresponding to the Motor. For debug method please check the last chapter.
PA－39：电流环比例常数的最小值。一般情况下不允许客户修改。
Minimum value of current loop proportional constant. Normally it is not allowed to amend by customer.
PA－40：速度环积分常数的最小值。调整此值可以改变低速平稳性，不能太小，否
则电机会爬行。Minimum value of speed loop integral constant. By adjusting this to change low speed stationarity, but this value can not be
too small, otherwise motor will do line crawl.
PA－41：清除历史报警。报警记录参数有dp－16、17、18，当PA41=2时历史报警
记录被清除为零。这样可以重新记录新的报警代号。
.
Warning of history clearing. Warning records parameter are dp－16、17、
18，while PA41=2, history warning records clear to zero, so as to record new warning codes.
PA－42：自动零偏补偿选择。PA42=1时，自动零偏补偿选择无效。当伺服使能无
效且PA42=2时，只要按“确认”键一次就可以让伺服驱动器实现自动零偏补偿，并且自动记忆该零偏值（既PA15）。
Automatic zero-deviation compensation option. While PA42=1,
automatic zero-deviation compensation option is invalid. While servo enable is invalid, just press “confirm” key once, the servo drive automatic zero-deviation compensation will be accomplished, and automatic recording this zero-deviation (that is PA15)
PA－43：最大电流参数。Maximum current limitation parameter. PA－44：备用。Standby PA－45：备用。Standby PA－46：备用 Standby
PA－47：误差清除CLE信号开关选择。Error clear CLE signal switch option
当PA47=2时，CLE信号无效。While PA47=2, CLE signal is invalid. 当PA47=1时，CLE信号有效。While PA47=1, CLE signal is valid.
PA－48：脉冲禁止INH信号开关选择。Pulse prohibited INH signal switch option.
当PA48=2时，INH信号无效。While PA48=2, INH signal is invalid. 当PA48=1时，INH信号有效。While PA48=1, INH signal is valid.
PA－49：超程保护Err--32有效电平的选择。 Over travel protection Err—32 valid
.
levels choose.
当PA49=3：关闭超程保护功能。While PA49=3: Close the function of over travel protection. 当PA49=2：低电平报警；While PA49=2: Low level warning 当PA49=1：高电平报警。While PA49=1: High level warning
PA－50：伺服准备好信号既ready信号在伺服使能SON有效之前的状态可以用
PA50来选择。当PA50=2：ready信号有效；PA50=1：ready信号无效。
Servo ready signal could choose by PA50 before states of servo
enable SON is invalid. While PA50=2: ready signal is valid; while PA50=1: ready signal is invalid.
PA－51：备用。Standby PA－52：备用。Standby PA－53：备用。Standby PA－54：备用。Standby PA－55：备用。Standby PA－56：备用。Standby PA－57：备用。Standby PA－58：备用。Standby PA－59：备用。Standby PA－60：备用。Standby
.
第五章 错误报警及处理Error Warning
& Handling
【注意】Notice
☆ 伺服驱动器和电机断电至少5分钟后，才能触摸驱动器和电机，防止电击和灼伤。 Do not touch the servo drive and motor within 5 minutes after power
cuts, to prevent electric shock and burns.
☆ 驱动器故障报警后，须根据报警代码排除故障后才能投入使用。
When servo motor fault warning appears, servo drive can put into service only after clearing faults according to warning code.
☆ 复位报警前，必须确认SON（伺服使能）信号无效，防止电机突然起动引起意
外。
Before reset the warning system, must be sure SON (Servo enable) signal
is invalid, to prevent accidents resulting by sudden start of the motor.
在发生错误报警时，如果没有对参数进行操作，将会在软件第一层显示Err-xx并闪烁，xx即为报警代码。如果正处于菜单操作中，会出现正在显示的内容发生闪烁，此时请按退出键直至看见Err-xx的显示。
When error warning happens, if no option to parameter, in the first level of software will display Err-xx and flashing meantime, xx is the warning code. If busy in option, the displayed contents will flash, at this moment, please
.
press logout/quit key as soon as Err-xx appears.
在报警已经发生后，请根据报警代码排除故障后方可继续使用。
When warning appears, please clear error first according to warning code, and then can continue to give drive into service.
5．1报警一览表 Warning Data Sheet
Sheet 5.1 报警一览表Warning Data Sheet
报警代码Warning Code -- 报警名称Warning Name 内容 Contents 正常 Normal 3 主电路过压Main 主电路电源电压过高The main circuit circuit over voltage 主电路欠压 Main power voltage is too high 4 Circuit voltage under 主电路电源电压过低 The main circuit power voltage is too low 6 电机超速Motor over 电机转速过高 Motor rotate speed is too speed high 8 输入脉冲频率太高位置环给定频率超过了设定值Position Input pulse loop given frequency exceeds the .
frequency is too settings. high 位置误差Position 位置误差超过了设定范围position error error 过流保护over exceeds the setting range. 9 11 current protection 写EEPROM错负载电流过大load current is over large 14 Writing error EEPROM 在写EEPROM时产生错误 Error appears while writing EEPROM 15 FPGA配置错FPGA Configuration error 在配置FPGA内部参数时产生错误While to deploy FPGA internal parameter, error happens. 17 过载保护overload 伺服驱动器及电机过负载Servo drive and protection 读EEPROMReading EEPROM error motor are over loads. 错在读EEPROM内部参数时产生错误Error happens while reading EEPROM internal parameter. UVW信号存在全高或全低电平UVW signal have overall high level or overall low level 20 25 编码器UVW出错Coder UVW errors 27 IPM报警 IPM IPM欠压或过流保护IPM under voltage or over current protection warning .
30 编码器故障 Coder 编码器断线或缺相 coder wire break or fault 超程保护phase lacking Over 超程保护报警 over travel protection warning 32 travel protection .
5．2 报警处理方法 Warning Handling Method
Sheet 5.2 报警处理方法Warning handling method
报警代码Warning Code 报警名称Warning Name 运行状态Running States 接通控制电源时出现appears while control 主电路 过压 Main 3 circuit over voltage power connected 接通主电源时出现appears while main power connected 1）换伺服驱动器change the servo drive 原因Causes 处理方法 Handling Method 1）电路板故障circuit board fault 1）电源电压过高supply voltage is too high 1）检查供电电源power 2）电源电压波形不正check 常supply voltage supply source wave form is abnormal .
1）制动电阻接线断开braking 电机运行过程中出现appears in process of motor running 1）制动晶体管损坏braking transistor damaged 2）内部制动电阻损坏Internal braking connection broken off resistor wire 1）重新接线 rewiring connection the 1）换伺服驱动器Change servo drive the resistor damaged .
1）降低起停频率reduce frequency 2）增加加/减速时间常数increase acceleration time/deceleration time constant 3）减小转矩值reduce limitation 4）减小负载惯量reduce inertia 5）换更大功率的驱动器和电机change higher load torque on-off 1）制动回路容量不够braking capacity enough loop not power drive and motor .
1）电路板故障circuit board fault 2）电源保险损坏power supply fuse damaged 接通主电源时出现主电路 欠压Main 4 circuit under voltage appears while main power supply connected 1）电源电压低supply voltage too low 2）临时停电20mS以上power temporary cut time 1）换伺服驱动器servo 3）软启动电路故障change flexible/soft start-up errors 4）整流器损坏rectifier damaged circuit drive 1）检查电源Check power supply above 20mS .
1）电源容量不够Power 电机运行过程中出现appears in process of motor running 1）散热器过热1）检查负载情况radiator overheating 1）编码器接线错误Coder connection 电机超速Motor over speed error Check condition of loading capacity enough 2）瞬时掉电instantaneous power-fail supply not 1）检查电源Check power supply 1）检查连线Check the connection 6 1）编码器损坏Coder 1）更换电机damaged 1）编码器电缆不良Coder cable not well Change motor 1）换电缆change cable .
1）编码器电缆过长，造成编码器供电电压偏低Coder cable too long, to cause coder supply 1）缩短电缆shorten cable 2）采用多芯关联供电use multiple core joint supply voltage too low 接通控制电源或电机运行过输入脉冲 频率太高Input 8 pulse frequency is too high 程中出现appears while control power connected or during motor running 位置偏差 9 溢出 position 1）频率过高frequency is too high 1）电路板故障Electric circuit error 1）换伺服驱动器Change drive servo 1）降低相应的控制频率 Reduce relevant control frequency 1）电机被机械卡死1）检查负载机械部motor got stuck by 分mechanism check mechanical load .
deviation over-flowed 2）输入指令脉冲异常part input command 2）检查指令脉冲check command pulse 3）检查电机是否按指令脉冲转动check motor follow whether rotate the pulse abnormal command pulse 1）驱动器U、V、W之间短路 short 1）检查接线Check circuit between connection drive U、V、W 1）正确接地 ground/earth correctly 过电流11 over current 1）接地不良 not well earthed 1）电机绝缘损坏motor insulation 1）更换电机change motor damaged 1）驱动器损坏drive 1）更换驱动器damaged change drive .
1）输入电子齿轮比太大。Input digital gear ratio too high 1）正确设置reset correctly 1）编码器故障。Coder error 1）换伺服电机change motor servo 1）编码器电缆不良。1）换编码器电缆Coder cable not change well cable 1）重新设定有关增益reset relative gain 2）如果增益不能设1）伺服系统不稳定，置到合适值，则减引起超调。Servo 小负载转动惯量比system instability 率if gain cannot coder leads to overshoot. reset to proper value, otherwise to reduce load rotary- to-inertia ratio. .
14 写EEROM 出错 1）芯片或电路板损坏1）更换伺服驱动器 chip or circuit Change drive 1）更换伺服驱动器Change drive servo servo board damaged 15 FPGA配置出错 1）芯片或电路板损坏 chip or circuit board damaged 接通控制电源时出现appears while control power connected 1）换伺服驱动器Change drive servo 17 过负载over load 1）电路板故障circuit board error .
1）检查负载Check the load 2）降低启低频率reduce start-up 电机运行过程中出现appears while motor running frequency 3）减小转矩值reduce torque the 1）超过额定转矩运行running over rated torque limitation value 4）换更大功率的驱动器和电机change higher power drive and motor 1）保持制动器没有打1）检查操持制动器开 keep the brake check operation unopened brake .
1）调整增益adjust gain 2）增加加/减速时间increase 1）电机不稳定振荡motor vibrating unsteady acceleration time/deceleration time 3）减小负载惯量reduce inertia load 1）U、V、W有一相断线 one of the connection broken of U、V、W 1）检查接线check 2）编码器接线错误connection Coder connection fault 读EEPROM 出错reading 1）芯片或电路板损坏1）更换伺服驱动器 chip or circuit change drive servo 20 board damaged .
EEPROM error 1) 编码器损坏1）更换电机coder damaged change motor 2) 编码器接线错误2）检查接线check coder connection 编码器 U V W 出错 Coder U V W error 25 connection fault 3）正确接地 3) 接地不良not ground/earth well earthed 1） 电压太correctly 低1）检查交流输入voltage too low check AC input 2） 电机电流太大2）降低加速度motor too high IPM报警 27 IPM warning current reduce acceleration 3） 编码器线断线或3）更换电机接触不良coder change motor connection 4）检查编码器线broken or poor check coder wire contact 4） PE线没接大地PE line didn’t connect to 5）伺服PE、电机PE必须同时接地PE line of servo .
earth drive and motor must be earthed in same time 1. 编码器损坏coder damaged 1）更换电机2. 编码器接线错误change motor coder connection error 32 超程保护 over travel protection 2）检查电缆check cable 编码器 故30 障 Coder error 1. 触动超程开关1）退出超程保护touch the over logout/quit over travel switch travel protection .
第六章 显示与操作 Chapter 6 Display
and Operation
【注意】Notice
☆ 为叙述方便，本说明书将把面板上的：退出键用←符号表示；
减小键用↓符号表示；增加键用↑符号表示；确认键用Enter符号表示。 ☆ For narrative convenience, this instructions use signs to represent
keys on the panel: ← means Logout; ↓ means Reduce；↑ means Increase; Enter means Confirm.
6.1 键盘操作 Keyboard Operation ★ 驱动器面板由6个LED数码管显示器和4个按键↑、↓、←、Enter组成，用来显示系统各种状态、设置参数等。按键功能如下：
Drive panel is consisted by 6 LED nixie tube monitors and 4 keys of ↑、↓、←、Enter, by which to display all kinds of system states, setting parameters etc. Key-press functions as follows: ↑：序号、数值增加，或选项向前。Sequence number、numeral value increasing, or forward option ↓：序号、数值减少，或选项退后。Sequence number、numeral value reduce, or stand back option. ←：返回上一层操作菜单，或操作取消。Return to former operation menu, or cancel operation Enter：进入上一层操作菜单，或输入确认。Enter into former operation menu, or input confirm.
【注】 在操作过程中，保持↑、↓按下，操作将重复执行，并且保持时间越长，重复速度越快。
Notice: During the operation process, keep the button of ↑、↓ pressed, the
operation will retry, and much longer time is, much faster the retry speed is.
★ 6位LED数码管显示系统各种状态及数据，全部数码管显示闪烁，表示系统发生
故障产生报警。6 LED Nixie tube display all kinds of system states and data, if all of the Nixie tubes flash, warning that system error happened.
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【注】 在报警状态下，同时按下↑、Enter两键约一秒钟就可以退出报警状态。 Notice In warning states, press ↑、Enter two keys in same time and keep it for one sec, so as to logout/quit warning states.
★ 操作按多层操作菜单执行，第一层为报警显示或默认参数监视层，第二层为主菜
单，包括四种操作方式，第三层为各操作方式下的功能菜单。图6-1示出主菜单操作框图：Operation conducted with layered operating menu, the first layer is warning display or default parameter watch over, the second layer is main menu which contain four operation ways, the third layer is the function menu in all kinds of operation ways. Diagram 6-1 is the main
menu operation block diagram.
★ 每次上电后，系统将自动检测当前的工作状态，如异常则显示出报警信息；如工
作正常，则自动显示用户设置的缺省监视值（请查阅PA－8参数说明）。用户每次须按下Enter键，从第一层进入主菜单操作模式。
Each time, as soon as power connected, the systems will automatic detects current working states, will display waning messages if any abnormal occurs; if working normally, will automatic display user set default watch over value (please check PA-8 parameter instruction). Each time user must press Enter into the first layer of main menu operation mode. PA-SETDP-SETEE-SETTEST参数设置监视方式参数管理试运行报警或默认参数显示层Enter第3层Diagram 6-1 方式选择操作框图 .
6.2 监视方式 Watch over Mode 在第1层选择“DP-SET”，并按Enter键进入监视方式，如图6-2共有18种显示状态，用↑、↓键选择需要的显示模式，再按Enter键，进入具体的显示状态了。
Choose “DP-SET” in the first layer and press Enter into watch over mode, see the diagram 6-2, there are totally 18 kinds of display states, using ↑、↓ to choose needed display mode, and then press Enter into concrete display state. DP- 1DP- 2DP- 3DP- 4DP- 5DP- 6DP- 7DP- 8DP- 9DP- 10DP- 11DP- 12DP- 13DP- 14DP- 15DP- 16DP- 17DP- 18位置误差当前速度备 用备 用当前电流备 用备 用备 用备 用备 用备 用软件版本错误信息指令脉冲积累反馈脉冲积累报 警 1报 警 2报 警 3EnterE 1S 0.0C 129G 0I 0.0T 0.0L 0O 1F 0B 0U 295V 10R 0D 0N 0E1 --E2 --E3 -- 6-2 监视方式操作图 watch over mode operation diagram 【注1】 位置误差（DP-1）：在运行中，给定位置与编码器反馈位置之差，如果数值太大，则会
影响加工精度。可通过调整参数减小误差来改善伺服电机响应特性。
Note 1 Position Error (DP-1): it is the error/difference between given position and
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coder feedback position during running, which would affect the machining precision if it is too large difference/error. The servo motor response characteristic can be improved by adjusting parameter and reduce error/difference.
【注2】 当前速度（DP-2）：伺服电机当前运行转速。
Note 2 Current Speed （DP-2）：Current running speed of the servo motor 【注3】 当前电流（DP-5）：当前电机电流。
Note 3 Present Current （DP-5）：Present motor current. 【注4】 软件版本（DP-12）：伺服驱动软件当前最新版本。
Note 4 Software Release （DP-12）：Latest software version of the servo drives. 【注5】 指令脉冲积累（DP-14）：指令脉冲个数。伺服通电后，显示为0；指令多少个脉冲则显
示多少个脉冲数（最大显示9999个脉冲数，大于此数则显示余数）。
Note 5 Command/Instruction pulse accumulation（DP-14）：Number of command
pulse. While servo power connected, display 0; displayed number of impulse corresponding to the number of command (Maximum displaying 9999 impulse, if more than this, display the remainder).
【注6】 反馈脉冲积累（DP-15）：编码器反馈脉冲数。伺服通电后，显示为0；最大显示9999
个脉冲数，大于此数，则显示余数。
Note 6 Feedback pulse accumulation（DP-15）：The number of feedback pulse to
coder. After servo power on it will display 0; and the maximum displaying impulse number is 9999, if more than this number, display remainder.
【注7】 报 警1（DP-16）:伺服第一次记录历史报警。
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Note 7 Warning 1（DP-16）: Servo records the historical warning for the first time. 【注8】 报 警2（DP-17）:伺服第二次记录历史报警。
Note 8 Warning 2（DP-17）: Servo records the historical warning for the second time.
【注9】 报 警3（DP-18）:伺服最后一次记录历史报警。
Note 9 Warning 3（DP-18）: Servo records the historical warning for the last time.
6.3 参数设置Parameter Settings
【注2】 参数设置会立即生效，错误的设置可能使设备错误运转而导致事故。 Note 2 Parameter settings becomes effective immediately, wrong settings may makes the equipment running faulty and lead to accidents.
在第2层中选择“PA－SET”，并按Enter键就进入参数设置方式，如图6-3。Choose “PA－SET” in the second layer, and press Enter into parameter setting mode, see diagram 6-3.
用↑、↓键选择参数号，按Enter键，显示该参数的数值，用↑、↓键可以修改参数值。Press ↑、↓ to choose parameter code, and press Enter to display the parameter value, press ↑、↓ can modify the parameter value.
按↑或↓键一次，参数增加或减少1，按下并保持↑或↓键，参数能连续增加或减少。Press ↑ OR ↓ once, parameter value will increase or reduce 1, keep pressing ↑or ↓ , parameter value will continuously increase or reduce.
.
参数值被修改后，最左边的LED数码管“P”开始闪烁，按Enter键确定修改数值生效，此时“P”显示正常，修改后的数值将立刻反映到控制中，此后按↑或↓键还可以继续修改参数，修改完毕按←键退回到参数选择状态。If parameter been modified, the leftmost LED Nixie Tube“P”starts flashing, then press Enter to confirm modified value becomes effective, at this time“P”shows normal, modified value will response to the control immediately, and after this, press ↑ or ↓ can go on modifying parameter, after finished, press ← to back to parameter choosing states.
如果对正在修改的数值不满意，不要按Enter键确定，可按←键取消，参数恢复原值，并退回到参数选择状态。If not satisfied with the modifying value, please do not press Enter to confirm, and can press ← to cancel, so as to restore original parameter value, and back to parameter choosing states.
PA- 1PA- 2参数 NO.1参数 NO.2EnterP 100EnterPA- 59PA- 60参数 NO.59参数 NO.606-3 参数设置操作框图Parameter setting operation diagram .
6.4 参数管理 Parameter Management
【注1】 修改后的参数如未执行写入操作，掉电后参数不保存，修改无效。 Note 1 If read-in not confirmed after modifying parameter, it will not be conserved/saved in case of power-fail, and modification is invalid.
参数管理主要处理内存和EEPROM之间操作，在第一层中选择“EE－SET”，并按Enter键就进入参数管理方式，如图6-4所示。首先需要选择操作模式，共有3种模式，用↑、↓键来选择。Parameter management is an operation of processing between Memory and EEPROM, choose “EE－SET” in the first layer and press Enter into the parameter management mode, as seen in diagram 6-4. Firstly need to choose operation model, totally there are three models, press ↑、↓ to choose.
以“参数写入”为例，选择“EE－rt”，然后按下Enter键，显示器显示“EE－NO”并且最左边的“E”开始闪烁。然后，按下↑或↓键选择“EE－YES”，此时最左方的“E”正常显示。最后，再按下Enter键，显示器将保持4秒左右时间，表示参数正在写入EEPROM。写完后，显示器将显示“FINISH”，此时，可按←键退回到操作模式选择状态。Set “parameter read-in” for example, choose “EE－rt”，then press Enter, monitor shows “EE－NO”and the leftmost “E”starts flashing. Then, press↑or ↓ to choose“EE－YES”, at this time leftmost“E”display in normal states. Finally, press Enter, and the monitor will keep about 4 seconds which means parameter is now read-in EEPROM. After read-in finished, monitor will shows “FINISH”，at this time, press ← to back to operation
.
choosing mode.
♀“EE－rT” 参数写入：表示将内存中的参数写入EEPROM的参数区。用户修改了参数，仅使内存中参数值改变了，下次上电又会恢复成原来的数值。如果想永久改变参数值，就需要执行参数写入操作，将内存中参数写入到EEPROM的参数区中，以后上电就会使用修改后的参数。
♀“EE－rT”parameter write-in：It means to write memory parameter into EEPROM parameter area. User modified parameter can only change the memory parameter value, next time after electrifying the parameter value will recover to original. If hope to permanently change the parameter, it is need to implement parameter write-in operation, to write memory parameter into EEPROM parameter area, next time after electrifying the modified parameter will be in use.
♀“EE－rd” 参数读取：表示将EEPROM的参数区的数据读到内存中。这个过程在上电时会自动执行一次，开始时，内存参数值与EEPROM的参数区是不一样的。但用户修改了参数，就会改变内存中参数值，当用户对修改后的参数不满意或参数被调乱时，执行参数读取操作，可将EEPROM的参数区中数据再次读到内存中，恢复成刚上电的参数。
♀“EE－rd” parameter read-in：It means to read EEPROM parameter area’s value into memory. This process will carry out automatic once electrifying, at the first time, memory parameter value is different from that in EEPROM parameter area. But if user modified parameter will change the memory parameter value, while user not satisfied with modified parameter or
.
parameter been disordered, it is time to implement parameter read-in operation, to read EEPROM parameter area’s value into memory again, and recover to newly electrifying parameter.
♀“EE－df” 恢复缺省值：表示将所有参数的缺省值（出厂值）读到内存中，并写入到EEPROM的参数区中，下次上电将使用缺省参数。当用户将参数调乱，无法正常工作时，使用这个操作，可将所有参数恢复成出厂状态。因为不同的驱动器型号对应的参数缺省值不同，在使用恢复缺省参数时，必须先保证驱动器型号（参数PA35）的正确性。
♀“EE－df” recover default value：It means to read all parameter default values （出厂值）into memory, and write-into EEPROM parameter area, so that next electrifying to use default parameter. When user disorder the parameter which leads to abnormally working, by carry out this operation, can recover all parameter back to default value. Because different drive mode have different default value, while using operation of recovering default value, firstly to assure drive mode（Parameter PA35） is correct.
♀“EE－psh” 用户参数保存：主要用于用户保存自己的电机参数。比如，当用户调整电机参数后，觉得某组数据比较满意，此时，可以通过此操作，将该组数据永久保存在EEPROM中（注：只允许用户保存一组数据，执行此操作后，将自动将上次保存的内容覆盖掉）。
♀“EE－psh” user parameter preserve：It is mainly used for user to preserve self motor parameter. For example, when user adjusting motor parameter, if quite satisfied with which set of the parameter data, by this
.
operation can permanently preserve this parameter into EEPROM （Note：Can only allow preserving a set of data, and after carrying out this operation the former preserved content will be covered automatically）.
♀“EE－pop” 用户参数读出：与以上的“EE－PSH”操作配套使用，用于恢复至用户曾经调整过的参数值（直接从EEPROM导入工作区）。如果用户没有保存过工作参数，那么执行了此次操作，如重新启动，工作区中参数将为空，必须执行“EE－DF”恢复缺省值。
♀“EE－pop” user parameter read-out：operate together with above “EE－PSH”, used to recover user previous/ever adjusted parameter value（from EEPROM directly to lead in working area）. If user didn’t preserve working parameter, after present operation, if restart, the parameter in working area will be vacant, and must to operate “EE－DF”to recover default value.
6-4 参数管理操作框图Parameter Management Operation Diagram
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6.5 试运行Trial run/Test run
【注1】 建议速度试运行在电机空载时进行，防止设备意外事故
Note 1 Suggest to conduct speed trial run in zero load states, to prevent equipment sudden accidents happen.
【注2】 试运行时驱动器SON（伺服使能）须有效。
Note 2 While in trial run/test run, drive SON （servo enable） must be effective
【注3】 用户在速度试运行过程中，按住↑或↓键，（为保护电机）系统按键速度不会
越来越快，而将一直以固定重复速度执行。
Note 3 While in the process of speed trial run, press ↑or ↓，（for motor protection）system key scroll will not be faster and faster, but continuously carrying out in fixed repeated speed.
在第1层中选择“TEST”，并按Enter键就进入试运行方式。试运行包括：速度试运行“SPDTST”、JOG（点动方式）值设定 “JOGSET”、JOG运行“JOGTST”。用户可以按↑、↓键进行切换选择，然后按Enter键进入。Choose “TEST” in the first layer, and press Enter into trial run/test run operation mode. Trial run/test run contain：Speed trial run “SPDTST”、JOG（inching/crawl mode） value setting “JOGSET”、JOG operation“JOGTST”。User can press ↑、↓ to choose and press
.
Enter into.
♀“SPDTST” 速度试运行：数值单位是r/min，系统处于速度控制方式，速度指令由↑（递增）、↓（递减）按键提供，电机实时按给定的显示速度运行。显示速度为正值时，电机正转；显示速度为负值时，电机反转。
♀“SPDTST”speed trial run：value unit is r/min, system in speed control mode, speed command supply by ↑（steadily increase）、↓（descending）,motor running following by given showed speed. If the showed speed is positive value, motor co rotation; if the showed speed is negative value, motor reserve rotation.
♀“JOGSET” 点动方式速度设定：数值单位是r/min，初始值为“0.0”，用户可以按照要求选择↑（递增）、↓（递减）键设定一个速度值。正值表示电机正转；负值表示电机反转。
♀“JOGSET” speed setting of crawl mode：Value unit is r/min, original value is“0.0”，user can set one speed value according to requirements by choose key ↑（steadily increase）、↓（descending）. Positive value means motor co rotation; negative value motor means reserve rotation.
♀“JOGTST” 点动运行：用户按Enter进入点动方式运行状态后，每次初始显示“NO”，可以按↑、↓键把它切换为“YES”，然后，每按一次Enter键，电机按“JOGSET”中设定的速度值走一次，如按住Enter键不放，电机就按此速度持续运转，直到松开Enter键。
♀“JOGTST” crawl running：User press Enter into crawl running mode, every .
initial display“NO”，can press ↑、↓ to switch into“YES”, and then every time pressing Enter, motor running following the set speed value in“JOGSET”, if keep pressing Enter, the motor will continuously running according to this speed, until Enter loosening.
6-5 试运行操作框图Trial run operation diagram
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第七章 通电运行 Chapter 7
Electrifying Running
【注意】Notice
☆ 驱动器及电机必须可靠接地，PE端子必须与设备接地端可靠连接。Drive and motor must be safely earthed; PE terminal must be connected safely with equipment earth terminal.
☆ 建议驱动器电源经隔离变压器及电源滤波器提供，以保证安全性及抗干扰能力。
Suggest drive power supply by isolation transformer and power filter, to assure security and anti-interference capability.
☆ 必须检查确认接线无误后，才能接通电源。Power supply can be connected only after checking and confirm connection without a fault.
☆ 必须接入一个紧急停止电路，确保发生故障时，电源能立即停止。An emergency stop circuit must be connected, to immediately cut off power while error happens.
☆ 驱动器故障报警后，重新启动之前须确认故障已排除、SON信号无效。After drive error warning, before restart the drive, must make sure all errors have been handled、SON signal is invalid.
☆ 驱动器及电机断电后至少5分钟内不得触摸，防止电击。Do not touch the drive and motor with 5 minutes after power cut, prevent electric shock.
☆ 驱动器及电机运行一段时间后，可能有较高温升，防止灼伤。Drive and motor may rise high temperature after a period of running, prevent burning.
.
7.1 电源连接 Electricity supply connection
电源连接请参照图7-1，并按以下顺序接通电源：See diagram 7-1 for reference of electricity supply connection, and connect the power supply according to the following steps.
1） 通过电磁接触器将电源接入主电路电源输入端子（三相接R、S、T，单相接R、S）。 Connect the main power into main circuit power input terminal through
electromagnetic contactor（three-phase connect to R、S、T，single-phase connect to R、S）。
2） 控制电路的电源R、T与主电路电源同时或先于主电路电源接通。如果仅接通了
控制电路的电源，伺服准备好信号（SRDY）OFF。Control circuit power R、T should be connected simultaneously or ahead of the main circuit power. If only connect control circuit power, servo ready with signal （SRDY）OFF. 3） 主电路电源接通后，约延时1.5秒，伺服准备好信号（SRDY）ON，此时可以接
受伺服使能（SON）信号，检测到伺服使能有效，驱动器输出有效，电机激励，处于运行状态。检测到伺服使能无效或有报警，基极电路关闭，电机处于自由状态。
After main circuit power connected, around 1.5 seconds later, servo ready
with signal（SRDY）ON，at this time servo enable signal（SON）can be accepted, and after detecting servo enable is effective, drive output is effective, the motor excitation and motor under running states. If detected servo enable is invalid or warning, base circuit closed and motor
.
under free states.
4） 当伺服使能与电源一起接通时，基极电路大约在1.5秒后接通。When servo enable and power supply connected in same time, base circuit will be connected around 1.5 seconds later.
5） 频繁接通断开电源，可能损坏软启动电路和能耗制动电路，接通断开的频率最好
在每小时5次，每天30次以下。如果因为驱动器或电机过热，在将故障原因排队后，还要经过30分钟冷却，才能再次接通电源。Frequently on-off power supply, is likely to damage soft start circuit and dynamic braking circuit, on-off frequency must be limited in 5 times every hour, below 30 times every day. If the drive or motor is overheating, after line up for error reasons, still need to wait for 30 minutes to cool off and then connect power supply again.
Diagram 7-1 电源接线图 Power connection diagram
.
7.2 试运行 Trial run
1.运行前的检查Checkings before running
在安装和连线完毕之后，在通电之前先检查以下几项：After finished installation and connection, please check the follows before power on：
△ 电源端子TB接线是否正确、可靠？输入电压是否正确？
Whether the Power supply terminal TB connection is correct、reliable/safety？ Whether the input voltage is correct？
△ 电源线、电机线有无短路或接地？
Whether the power supply wire、motor wire are earthed or any short circuit？
△ 控制信号端子是否已连接准确？电源极性和大小是否正确？
Whether control signal terminal is connected correctly？If the Power supply polarity and size are correct？
△ 驱动器和电机是否已固定牢固？
Whether drive and motor are fixed securely？ △ 电机轴是否末连接负载？
Whether motor shaft connect with load？
2.通电试运行 Electrifying Trial Run A：试运行方式 Trial run method
（1）连接CN2，使输入控制信号：伺服使能（SON）OFF。
Connect CN2 to input control signal：Servo enable （SON）OFF.
.
（2）接通控制电路电源（主电路电源暂时不接），驱动器的显示器点亮，如果有报警
出现，请检查连线。
Switch on control circuit power supply （do not switch on main circuit
power supply temporarily），then the drive monitor been lighten, if warning appears please check the connection.
（3）将控制方式选择(参数PA-1)设置为速度试运行方式(设置为3)。
Please set control mode (Parameter PA-1) into speed trial run mode(set into 3)。
（4）接通主电路电源。Switch on the main circuit power supply.
（5）确认没有报警和任何异常情况后，使伺服使能（SON）ON，这时电机激励，
处于零速状态。Make sure there’s no warning and abnormal situation, then make servo enable（SON）ON，at this time motor is in excitation, in zero speed state.
（6）通过按键操作，进入速度试运行操作状态，速度试运行提示符为“S”，数值单位是R/MIN，系统处于速度控制方式，速度指令由按键提供，用↑、↓键改变速度指令，电机应按给定的速度运转.
By pressing key operation, go into speed trial run operation states,
speed trial run command prompt is “S”，value unit is R/MIN, system under speed control mode, and by pressing key ↑、↓ to change speed command, motor should running according to given speed. B：JOG（点动）运行 JOG Crawl Run
（1）连接CN2，使输入控制信号：伺服使能（SON）OFF。
Connect CN2 to input control signal：Servo enable（SON）OFF。 （2）接通控制电路电源（主电路电源暂时不接），驱动器的显示器点亮，如果有报警
出现，请检查连线。
.
Switch on control circuit power supply （do not switch on main circuit power
supply temporarily），then the drive monitor been lighten, if warning appears please check the connection.
（3）将控制方式选择（参数PA-1）设置为JOG运行方式（设置为4）。
Please set control mode (Parameter PA-1) into JOG running mode(set into 4)。 （4）接通主电路电源。
Switch on the main circuit power supply.
（5）确认没有报警和任何异常情况后，使伺服使能（SON）ON，这时电机激励，
处于零速状态。
Make sure there’s no warning and abnormal situation, then make servo
enable（SON）ON，at this time motor is in excitation, in zero speed state. （6）通过按键操作，进入JOG运行操作状态，JOG运行提示符为“J”，数值单位是R/MIN，系统处于速度控制方式，速度大小、方向由JOGSET确定，按Enter电机按JOGSET参数确定的速度和方向运转.
By pressing key operation into JOG running operation state, JOG running
command prompt is “J”, value unit is R/MIN, system under speed control mode, speed and direction decided by JOGSET, by pressing Enter then motor will running according to JOGSET speed and direction.
C：位置方式运行 Position Mode Running
（1）连接CN2，使输入控制信号：伺服使能（SON）OFF，
Connect CN2 to input control signal： servo enable（SON）OFF （2）接通控制电路电源（主电路电源暂时不接），驱动器的显示器点亮，如果有报警
出现，请检查连线。Switch on control circuit power supply （do not switch on main circuit power supply temporarily），then the drive monitor
.
been lighten, if warning appears please check the connection. （3）将控制方式选择（参数PA-1）设置为位置运行方式（设置为1），根据控制器输
出信号方式设置参数PA-9，并设置合适的电子齿轮比（PA-18、PA-19） Set control mode （parameter PA-1）to position mode running （set to
1）， and set the parameter PA-9 according to drive output signal mode, and to set suitable digital gear ratio （PA-18、PA-19） （4）接通主电路电源。Switch on the main circuit power supply
（5）确认没有报警和任何异常情况后，使伺服使能（SON）ON，这时电机激励，
处于零速状态。Make sure there’s no warning and abnormal situation, then make servo enable（SON）ON，at this time motor is in excitation, in zero speed state.
（6）操作位置控制器输出信号至驱动器CN2－6、18、7、19脚，使电机按指令运转。 Operation position controller output signal to drive CN2-6、18、7、19, to make
the motor running follow commands.
7.3 调整 Adjustment
【注1】 错误的参数设置可能导致设备故障和意外，启动前应确认参数的正确性。 Note 1 Wrong parameter settings may lead to equipment damage and accidents, so please confirm the correctness before start. 【注2】 建议先进行空载调试后，再作负载调试。
Note 2 Suggest to adjust in zero loading, and then adjust in load.
1. 基本增益调整 Basic gain adjustment
.
※ 速度控制 Speed control
（1）[速度比例增益]（参数PA-2）的设定值，在不发生振荡的条件下，尽是设置的
较大。一般情况下，负载惯量越大，[速度比例增益]的设定值应越大。 [Speed proportional gain]（Parameter PA-2）setting value，keep it not in
condition of oscillating motion, to set a large value as much as possible. Normally, the larger the load inertia is, the larger the set value [Speed proportional gain].
（2）[速度积分时间常数]（参数PA-3）的设定值，根据给定的条件，尽是设置的较
大。[速度积分时间常数]设定的太大时，响应速度将会提高，但是容易产生振荡。所以在不发生振荡的条件下，尽是设置的较大。[速度积分时间常数]设定的太小时，在负载变动的时候，速度将变动较大。一般情况下，负载惯量载大，[速度积分时间常数]的设定值应越小。
[Speed integral time constant](Parameter PA-3) setting value, according
to given conditions, to set a large value as much as possible. When [Speed integral time constant] set value is large, response speed will increase, but it is tend to go into oscillating motion. Assure not in condition of oscillating motion, try to set a large value as much as possible. If [Speed integral time constant] settings are too small, the speed will changes largely when loads changes. Normally, the larger load inertia, the smaller the [Speed integral time constant].
.
※ 位置控制 Position Control
（1）先按上面方法，设置合适的[速度比例增益]和[速度积分时间常数]。Set suitable [Speed proportional gain] and [Speed integral time constant] according to the above methods.
（2）[位置前馈增益]（参数PA-7）设置为10%。[Position Feedfoarward Gain](Parameter PA-7) sets to 10%.
（3）[位置比例增益]（参数PA-6）的设定值，在稳定范围内，尽量设置的较大。[位
置比例增益]设置的太大时，位置指令的跟踪特性好，滞后误差小，但是在停止定位时，容易产生振荡。[Position Proportional Gain] (Parameter PA-6) value setting. in the steady range, to set the value as large as possible. If the [Position Proportional Gain] setting value is large, position command tracking property will be better, and delay error will be smaller, but it is tend to oscillate when stop positioning.
（4）如果要求位置跟踪特性特别高时，可以增加[位置前馈增益]设定值。但如果太大，
会引起超调。
If required position tracking property is very high, can increase the
[Position feedforward gain] set value. But if it is too large, will lead to overshoot.
[注1] [位置比例增益]设定的较小时，系统处于稳定状态，但是位置跟踪特性变差，
滞后误差偏大，为了使用较高的[位置比例增益]，可以增加[加减速时间常数]
.
（参数PA-4,PA-5）设定值，避免超调。
Note 1 if set value of [position proportional gain] is small, system will be in steady states, but position tracking property will be lower, delay error become larger, in order to get a high [position proportional gain], it is useful to increase the set value of [acceleration and deceleration time constant](Parameter PA-4,PA-5), to prevent overshoot.
[注2] 增加[位置前馈增益]的设定值时，当系统不稳定的时候，可以增加[加减速时
间常数]设定值，避免超调。
Note 2 When to increase set value of [position feedforward gain], while the system is unsteady, it is useful to increase set value of [acceleration and deceleration time constant], to prevent overshoot.
[注3] [位置比例增益]的设定值可以参考下表：
Note 3 [position proportional gain] setting reference sheets:
刚度Stiffness 低刚度 Low 中刚度 Middle 高刚度 High [位置比例增益]Position Proportional Gain 10～60/S 60～100/S 100～220/S
.
2. 基本参数调整图 Basic Paramerter Adjusting Diagram PA 7前馈增益PA10位置指令脉冲输入形式PA18PA19电子齿轮+-PA 6位置比例增益PA 1+-PA 4PA 5加减速 +-时间PA 2PA 3速度比例增益积分时间常数PA29PA30电流比例增益积分时间常数+-M模拟速度指令速度计算四倍频PG Diagram 7-2 基本参数调整图 Basic Parameter Adjusting Diagram
3. 位置分辨率和电子齿轮的设置 Settings of position resolution and electronic gear
位置分辨率（一个脉冲行程 ）决定于伺服电机每转行程 与编码器每转反馈脉冲Pt，可以用下式表示 Each turn running/stroke of servo motor and each feedback pulse Pt of coder, decided by the position resolution, see the following formulation: ΔS Δl=
.
Pt In the formulation：
Δl：一个脉冲行程（mm）；one impulse stroke (mm)
ΔS：伺服电机每转行程（mm/转）；Servo motor stroke of each turn(mm/turn) Pt：编码器每转反馈脉冲数（脉冲/转）。Coder’s each turn feedback impulse count (impulse/turn)
因为，系统中有四倍频电路，所以Pt＝4×C，C为编码器每转线数。本系统中，C＝2500线/转，所以Pt＝10000脉冲/转。Because, there is quadruple circuit in the system, so Pt＝4×C，C means windings of each turn.
指令脉冲要乘上电子齿轮比G后才转化为位置控制脉冲，所以一个指令脉冲行程 表示为 Command impulse multiply by electronic gear ratio G makes to the positional control impulse, so a command impulse stroke shows
ΔS Δl*＝ ×G
Pt
指令脉冲分频分子Command impulse frequency dividing numerator
式中，G＝ 。
指令脉冲分频分母Command impulse frequency dividing
denominator
.
4. 启停特性调整 Start Stop Property Adjustment
伺服系统启停特性即加减速时间，由负载惯量及启动、停止频率决定，也受伺服驱动器和伺服电机性能的。频繁的启停、过短的加减速时间、负载惯量太大会导致驱动器和电机过热、主电路过压报警，必须根据实际情况进行调整。Servo system start stop property is the time of acceleration and deceleration, decided by load
inertia,
start
and
stop
frequency,
meantime
limited
by
performance/function of servo drive and motor. Frequent start and stop、too short time of acceleration and deceleration、too large load inertia, all of this will lead to warning result by drive and motor overheating、main circuit over voltage, must be adjusted according to practical situation.
（1）负载惯量与启停频率 Load inertia and start stop frequency
用于启动、停止频率高的场合，要事先确认是否在允许的频率范围内。允许的频率范围随电机种类、容量、负载惯量、电机转速的不同而不同。在负载惯量为m倍电机惯量的条件下，伺服电机所允许的启停频率及推荐加减速时间（参数PA-4,PA-5）如下：If used in high start and stop frequency situation, must be confrim whether it is in allowrance frequency range. Allowance frequency range is different according to motor type、capacity、load inertia、motor rotation speed. If in the condition of load inertia m times motor inertia, servo motor allowance start stop frequency and recommend acceleration and
.
deceleration time (Parameter PA-4, PA-5) as follows:
负载惯量倍数 Load inertia m≤3 允许的启停频率
Allowance start stop frequency ＞100次/分钟：加减速时间10mS或更少 ＞100times/min: acceleration and deceleration time 10mS or less m≤5 60～100次/分钟：加减速时间20mS或更少 60～100times/min：acceleration and deceleration time 20mS or less m＞5 ＜60次/分钟：加减速时间50mS以上 ＜60times/min：acceleration and deceleration time above 50mS
（2）伺服电机的影响 Servo motor impaction
不同型号伺服电机所允许的启停频率及加减速时间随负载条件、运行时间、占载率、环境温度等因素而不同，请参考电机说明书、根据具体情况进行调整，避免因过热而报警或影响使用寿命。Different type of servo motor have different allowance start stop frequency and acceleration and deceleration time, result by load condition、running time、load carry duty and environmental
.
temperature as so on. Please take the motor instruction book for reference, and adjusting according to specific circumstances, preventing overheating lead to warning or impacting the life span.
（3）调整方法 Adjusting Method
一般负载惯量应在电机转子惯量5倍以内，在大负载惯量下使用，可能会经常发生在减速时主电路过电压或制动异常，这时可以采用下面方法处理：
Normally load inertia should be within 5 times of motor rotor inertia, when under large load inertia, during speed down, often result in main circuit over voltage or brake abnormal, at this time it can use such handling methods:
⊙ 增加加减速时间，可以先设得大一点，再逐步降低至合适值。
To increase acceleration and deceleration time, firstly can set in a larger value, and then reduce gradually to suitable value. ⊙ 减小内部转矩值，降低电流值。
Low down internal torque limitation value, reduce current limitation value.
⊙ 降低电机最高转速。
Reduce maximum motor rotating speed. ⊙ 更换功率、惯量大一点的电机。
Change into another larger power、inertia motor.
.
第八章 产品规格 Chapter 8 Production Specification
8．1 驱动器规格 Drive specification
输出功率(KW)* Output Power 电机额定转矩(Nm) Motor Rated Torque 尺寸（mm）Dimensions 重 量（Kg）Weight 2×115×172 1~3 3~5 5~15 15~27 SD15MT SD20MT SD30MT SD50MN 0.2~0.6 0.6~1.0 1.0~2.5 2.5~5.2 198×85×131 198××148 198×95×168 2 2.5 3 5 .
Single-phase 输入电源 Input 单相Power supply AC220V –Three-phase 三相 AC220V –15~+10% 50/60Hz 15~+10% 50/60Hz 温度工作：0~55°C 存贮：-20°C ~80°C TemperWorking: 0~55°C Storing: -20°C ~80°C 使用 环境Using Environment ature 湿度 小于90%(无结露) Less than 90% (Non condensation of Humidimoisture) ty 振动小于0.5g(4.9m/S2)，10~60Hz(非连续运行) OscillatLess than 0.5g(4.9m/S2)，10~60Hz(Non continuously-running) ion 控制方式 ①位置控制Position Control ②模拟量速度控制Analog speed Control mode control ③速度试运行 Speed trial run 再生制动Regenerative braking 速度频率响应Speed frequency response: <400Hz 控制特性Control characteristic 速度波动率Speed fluctuation ratio: <±0.03(负载load 0~100%)；<±0.02(电源Power -15~+10%)(数值对应于 额定速度value corresponds to rated speed) 内置 Internal installed .
调 速 比Speed governing ratio: 1:5000 脉冲频率Impulse frequency: ≤500kHz ① 伺服使能Servo Enable ②报警清除Warning clearance ③偏差计数器清零 Deviation counter zero clearing ④指令脉冲禁止 Command impulse inhabit ⑤超程保护over-traveling protection ①伺服准备好输出Servo ready to output ②伺服报警输出 Servo warning output ③定位完成输出Position finished output ④编码器信号Coder signal 输入方式 ①脉冲+符号 impulse + sign ②CCW脉冲/CW脉冲 input method 位置控制Position Control 电子齿轮比1~32767 electronic gear ratio 反馈脉冲10000脉冲/转impulse/turn feedback impulse 加减速功能Acceleration and Deceleration function Parameter setting time of acceleration and deceleration 参数设置加减速时间6~1530mS (0r/min←→1000r/min) CCW impulse/CW impulse 控制输入Control input 控制输出Control output .
监视功能Monitoring function 转速、指令脉冲积累、位置偏差、反馈脉冲积累、电机电流、运行状态等 rotate speed、command impulse accumulated、position deviation、feedback impulse accumulated、motor current、running states and so on 超速、主电源过压，欠压、过流、过载、编码器异常、位置超差等 Over speeding、main power supply over voltage，under voltage、over current、over load、coder abnormal、position running out/difference and so on 6位LED显示状态、4个按键设置参数 6 LED displaying states、4 keys setting parameter 保护功能Protection Function 显示、操作Display、Operation 适用负载惯量Suitable load inertia 小于电机转子惯量的5倍 Less than 5 times of motor rotor inertia
第九章 订货指导 Chapter 9 Ordering
directions
9.1 容量选择 Capacity Choosing
伺服系统容量的确定，必须综合考虑负载惯量、负荷转矩、要求的定位精度、要
.
求的最高速度，建议按下述步骤考虑：
To determine a servo system capacity, should integrated considering load inertia、load torque、required position precision、required maximum speed, suggesting to choose follow the steps:
1）计算负荷惯量和转矩 Calculate the load inertia and torque
参照有关资料计算出负荷惯量、负荷转矩、加减速转矩、有效转矩，作为下一步选择的依据。Referring to related information/material to calculate out load inertia、load torque、acceleration and deceleration torque、effective torque, for the basis of next step of choosing.
2）初步确定机械齿轮比 A preliminary confirmation of register ratio
根据要求的最高速度和电机的最高转速计算出最大机械减速比，用此减速比和电机的最小回转单位核算能否满足最小位置单位的要求，如果位置精度要求较高，可增大机械减速比（实际最高速度降低）或选用转速更高的电机。
Calculate out the maximum register ratio according to required maximum speed and maximum motor rotating speed, by this register ratio and motor minimum turning unit to check whether can meet minimum position unit requirements, if the position precision requirement is very high, can enlarge the register ratio (factual speed limit reduced) or choose another motor with higher rotating speed.
3）核算惯量和转矩 Checking inertia and torque
用机械减速比把负荷惯量和负荷转矩折算到电机轴上，折算出的惯量应不大于电机转子惯量的5倍，折算出来的负荷转矩、有效转矩应不大于电机额定转矩。如果不
.
能满足上述要求，可采取增大机械减速比（实际最高速度降低）或选用容量更大的电机。To convert load inertia and load torque to motor shaft through mechanical reduction ratio, and the converted inertia shouldn’t larger than 5 times of motor rotor inertia, converted load torque、effective torque shouldn’t larger than motor rated torque. If cannot match the above requirements, to increase mechanical reduction ratio (factual speed limit reduced) or choose another motor with higher capacity.
9.2 电子齿轮比 Electronic Gear Ratio
电子齿轮比G的意义、调整方法请参阅第四章（表4.1参数功能）、第六章（6.3参数设置）。Meanings of the electronic gear ratio、adjustment methods，please check Chapter 4 (Sheet 4.1 Parameter Function)、Chapter 6 (6.3 Parameter Settings )
位置控制方式下，负载实际速度为：In position control mode, load factual speed is:
指令脉冲速度×G×机械减速比。
Command impulse speed×G×mechanical reduction
ratio
位置控制方式下，负载实际最小位移为：In position control mode, load factual minimum displacement is:
最小指令脉冲行程×G×机械减速比。
Minimum command impulse stroke×G×mechanical
.
reduction ratio
【注】 当电子齿轮比G不为1时，进行齿轮比除法运算可能会有余数，此时会存在
位置偏差，最大偏差为电机的最小转动量（最小分辨率）。
Note when electronic gear ratio G is not 1, to do gear ratio division
operation maybe produce a remainder, at this time maybe have position deviation, and the maximum deviation is the minimum rotational number (Minimum resolution response).
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第十章 调试方法 Chapter 10
Adjusting Method
1：第一步必须在电机线U,V,W未接的情况下，设置电机相对应的PA35参数。 The first step must be under the condition of motor wire U, V, W unconnected, to set motor corresponding PA35 parameter.
2：请用户按照配套电机的额定电流值修改PA33参数。此参数会影响过流保护值和
过载保护值。Please modify PA 33 parameter according to rated current of mating motor. This parameter would affect over current protection value and overload protection value. 3：PA38的计算：Calculation of PA38:
SD15MT: PA38=3874/电机额定电流Motor rated current; SD20MT: PA38=3874/电机额定电流Motor rated current;
SD30MT: PA38=7748/电机额定电流Motor rated current; SD50MN: PA38=10000/电机额定电流Motor rated current;
按照上面的公式把结果取整后,输入到交流伺服驱动器中，重新上电后生效
According to the above formula and make out a rounded number, and then input to AC servo motor drive, at last it becomes effective after re-electrifying.
4：把PA1设置为1: Set PA1 to 1:
.
伺服为位置模式，此时PA15,PA16,PA17,PA44, PA45, PA46这些模拟量速度控制参数无效。根据实际的传动比设置PA18、PA19电子齿轮比，建议用户把电子齿轮比设置到交流伺服驱动器中，不要放到上位机中。
Servo in position mode, at this time PA15,PA16,PA17,PA44, PA45, PA46,
these analog speed control parameter are ineffectual. 把PA1设置为2: Set PA1 to 2:
①:伺服为模拟量速度模式，此时PA6,PA7, PA9, PA10, PA11,PA12,
PA18,PA19, PA22这些位置控制参数无效。Servo is in analog speed mode, at this time PA6,PA7, PA9, PA10, PA11,PA12, PA18,PA19, PA22, such position control parameter are ineffectual.
②：对于西门子802C系统：PA17=1;对于南京钛康的闭环系统：PA17=2;
对于FAGOR的闭环系统：PA17=2; For SIMENS 802C system: PA17=1;
For Nanjing Taikang close loop system: PA17=2; For FAGOR close loop system: PA17=2
③：手动调零偏PA15：首先伺服与系统之间必须正确连线，在电机空载的情
况下，调整PA15的值使电机在系统零速时应静止不动，并且系统的跟随误差
在几个脉冲之内。Manual drive zero adjusts PA15: firstly servo must be correctly connected with system, under condition of zero load, to adjust PA15 value to let the motor immovability when the system in zero speed, and meantime system following error is in range of several impulses.
.
由于手动调零偏比较麻烦，故又开发了自动零偏补偿功能。当伺服使能无
效且PA42=2时，只要按“确认”键一次就可以让伺服驱动器实现自动零偏补偿，并且自动记忆该零偏值即PA15的值。Because manual zero adjustment is very troublesome, so later developed automatic zero deviation compensation function. When servo enable is ineffectual and PA42=2, just press “Confirm” key once, so as to let servo drive to complete automatic zero deviation compensation, and meantime automatically memorize this zero deviation value, that is value of PA15.
5：刚性调整：Rigidity Adjustment:
A: 位置控制模式下：In position control mode:
一般情况下，用户只需调整PA2、PA36、PA32和PA29这几个比例常数。PA3、PA37、PA40和PA30这几个积分常数一般不需调整。刚性调整一般分为以下三步：
Normally, user just need to adjust PA2、PA36、PA32 and PA29 these proportional constant. PA3、PA37、PA40 and PA30, these integral constant don’t need to be adjust normally. Rigidity adjustment divides into following three steps:
①： 第一步让电机工作在每分钟几转内，如选择进给速度F2、F5、F10,
用千分表或百分表测试工作台的移动是否均匀，此时主要是调整速度环比例增益PA36的大小。电机越大、负载越重、装配的越紧，PA36应越大，否则会爬行或发生Err-17过载保护。如果PA36太大，刚性过强，
.
工作台会有明显的高频振动，此时应减小PA36的值。
The first step is to let motor working in several turns per minute,
for example to choose feeding speed F2、F5、F10, to use clock gauge or dial indicator to testing whether working platform movement is uniform, and at this time it is mainly to adjust speed loop proportional gain PA36. The larger the motor、the heavy the load、the fasten the assembling, PA36 should be larger, otherwise motor will creep or Err-17 over load protection will happen. If PA36 is too large, rigidity is too strong, the control platform will have obvious high-frequency vibration, at this time should reduce the value of PA36.
②： 低速调好后，让电机工作在每分钟十转以上即F100~F6000之间，此
时应调整PA2的值使工作台匀速且没有噪音。如果不行的话请降低PA29的值！一般情况下:
After low speed adjusted well, to let motor working above 10
turns per minute, that is between F100~F6000, meantime should adjust PA2 value to make working platform works at a constant speed and without noise. If it is not useful, please reduce PA29 value! Normally:
PA2=PA36*(1.0~2)
③： 上面两步调好后，让电机工作在每分钟十转以内即F50左右，如果振
动大请减小PA32的值，如果爬行请加大PA32的值以加大刚性。
.
After complete above two steps, let the motor working within 10
turns per minute, that is around F50, if vibration is heavy please reduce PA32 value, if motor creep please enlarge PA32 value to increase rigidity.
B: 模拟量速度控制模式下：In analog speed control mode:
①: 有关参数的解释：relative parameter explanation:
PA39:低速时的电流环积分常数current loop integral constant while
in low speed，PA39=(1/10~1/3)PA30;（位置控制时in position control mode，PA39=1）
②: 增加Increase PA36,PA39,PA40都可以提高低速刚性can increase low
speed rigidity。一般情况以增加PA36为主。Mainly to increase value of PA36.
③: 增加Increase PA2,PA3,PA32,PA37都可以提高中、高速刚性 can
improve middle speed、high speed rigidity。一般情况以增加PA2为主 Mainly to increase value of PA2.。 PA2=(1.2~1.5)*PA36 PA3>PA40; PA32=13~30; PA37=10~20; C: 速度环比例常数Speed loop proportional constant PA2、PA36 and PA32 realationship as follows的关系如下图所示： 速度环比例常数PA32大 PA2最大值PA32小PA36电机转速 最小值
.
D: 速度环积分常数Speed loop integral constant PA3、PA37 and PA40的关系如下图所示relationship as follow diagram： 速度环积分常数PA37大 PA3最大值PA37小PA40电机转速 最小值 6：如果希望伺服电机一上电就锁定，或者不用外部使能信号，请把PA27设为1或3； If hope to make servo motor lockup as soon as power connected, or do not
use external enable signal, please set PA27 into 1 or 3;
7：如果设备没有可靠接大地，或有变频器工作的场合，驱动频繁发生Err--30 ,Err
—25报警时，建议把PA23设为2，屏蔽编码器报警的发生。
If the equipment doesn’t earth well, or in the working circumstances of
transducer, when the drive frequently happens warning Err--30, Err—25, suggest to set PA23 to 2, to screen coder warning happens.
8：电箱中的强电线如380V进线、变频器的U、V、W输出线、交流伺服的U、V、
W输出线，应远离交流伺服的信号线，更不能捆绑在一起！否则会有强烈的干扰影响交流伺服的正常工作。
.
Strong electric wire in the electric box such as 380V incoming line/inlet wire、
transducer ‘s U、V、W output wire、AC servo U、V、W output wire, should keep away from signal wire of AC servo, or do not even binding together! Otherwise strong disturbance will impact normally working of AC servo.
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