MOTEC α智能伺服驱动器用户手册20110116
新力川伺服驱动使用说明
感谢您使用本产品，本使用操作手册提供LCDA系列伺服驱动器的相关信息。
内容包括：●伺服驱动器和伺服电机的安装与检查●伺服驱动器的组成说明●试运行操作的步骤●伺服驱动器的控制功能介绍与调整方法●所有参数说明●通讯协议说明●检测与保养●异常排除●应用例解说本使用操作手册适合下列使用者参考：●伺服系统设计者●安装或配线人员●试运行调机人员●维护或检查人员在使用前，请您仔细详读本手册以确保使用上的正确。
此外，请将它妥善保存在安全的地点以便随时查阅。
下列在您尚未读完本手册时，务必遵守事项：●安装的环境必须没有水气，腐蚀性气体或可燃性气体。
●接线时，禁止将三相电源接至马达U、V、W的连接器，因为一旦接错时将损坏伺服驱动器。
●接地工程必须确实实施。
●在通电时，请勿拆解驱动器、马达或更改配线。
●在通电动作前，请确定紧急停机装置是否随时开启。
●在通电动作时，请勿接触散热片，以免烫伤。
如果您在使用上仍有问题，请洽询经销商或者本公司客服中心。
安全注意事项LCDA 系列为一开放型（Open Type ）伺服驱动器，操作时须安装于遮蔽式的控制箱内。
本驱动器利用精密的回授控制与结合高速运算能力的数字信号处理器（Digital Signal Processor,DSP ）,控制IGBT 产生精确的电流输出，用来驱动三相永磁式同步交流伺服马达（PMSM ）达到精准定位。
LCDA 系列可使用于工业应用场合上，且建议安装于使用手册中的配线（电）箱环境（驱动器、线材与电机都必须安装于符合环境等级的安装环境最低要求规格）。
在按收检验、安装、配线、操作、维护与检查时，应随时注意以下安全注意事项。
标志[危险]、[警告]与[禁止]代表的含义：✓ 意指可能潜藏危险，若未遵守要求可能会对人员造成严重伤或致命✓ 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，甚至故障✓ 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✧ 请依照指定的方式搭配使用伺服马达与伺服驱动器，否则可能会导至火灾或设备故障。
山崎馬達 TUE系列 使用手冊说明书
Linear acceleration/deceleration after cutting feed interpolation
Feedrate override
0~200%, 10% step
Jog override
Override cancel
Manual per revolution feed
Basic Specifications
1. Axis control
Controlled path
1 path
Controlled axis (total)
2 axisʢ˞3 axisʣ
Simultaneous controllable axis
2 axisʢ˞3 axisʣ
Axis name
X,Z and C
Position switch
Unexpected disturbance torque detection function
2. Operation Automatic operation (memory) DNC operation
DNC operation with Memory card
MDI operation Schedule function Program number search Sequence number search Sequence number comparison and stop Program restart Buffer register Dry run Single block JOG feed Manual reference position return Reference position return speed set Manual handle feed Manual handle feedrate Manual handle interruption
托希巴调速电机驱动器应用指南说明书
G9APPLICATION GUIDELINE 8.1Auto TuneIntroductionAuto Tune is a function in the drive that calculates and measures the motor constants used to define the motor model while in the Auto Torque Boost, Sensorless Vector, or Sensored Vector control mode (V/f Pattern).While the differences may be minor, the motor constant settings in the G9/H9 differ from the 7-series.In lieu of manually calculating the motor constants of your motor, the drive provides you the option to have it calculate the constants for you. This is the recommended method when the motor data provided is limited to Capacity, Current, and RPM.Programming*Must have the motor connected to the drive. NotesTo use auto tune, you will need to provide the:•Motor’s Base Frequency (Hz)•Motor’s Base Frequency Voltage (VAC)•Motor’s Rated Capacity (kW)•Motor’s Rated Current (A)•Motor’s Rated RPM (RPM)Table 1 shows the items that need to be set for proper auto tune operation. If you did not use the Setup Wizard when starting your drive you can manually enter the information through the Direct Access menu in Programming.F014 – Defines the base frequency at which the motor is rated for. This can be found on the motor nameplate.F409 – Defines the voltage at which the motor is rated at its base frequency. This can be found on the motor nameplate.F402 – Adds a thermal component to the motor model. You can select a motor that is self-cooled (ODP, TEFC), one that has a blower attached to it providing constant air flow regardless of rotor speed, or you can leave the compensation OFF.F405 – Defines the kW capacity of the motor. This can be found on the motor nameplate.F406 – Defines the full load current of the motor at base voltage and frequency. This can be found on the motor nameplate.F407 – Defines the rated rotor RPM at full load current, base voltage, and base frequency.F400 – Enables Auto tune 1.0: Auto Tune Disabled1: Reset Motor Defaults2: Enable Auto tune on RUN command3: Auto Tuning by input terminal signal4: Motor constant auto calculationYou should enter all the information in all the previously listed parameters. Then enter a “4” in F400. This instantaneously auto updates parameters F410 – F413 according to the items set previously and resets F400 to “0”. Now set F400 to “2”. The next time the drive is ran, the drive sends a pulse to the motor and measures its feedback adjusting F410 and F412 as necessary. It will then set F400 back to “0”. Auto tune is now complete.。
伺服驱动器用户手册
2.2.2、通风间隔
2.2.3、安装方法 1）、安装方向：伺服驱动器的正常安装方向是垂直直立方向。 2）、安装固定：上紧伺服驱动器上的四颗 M5 固定螺钉。 3）、通风散热：采用自然冷却方式，在电气控制柜内必须安装散热风机。
z 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
z 驱动器端子 U、V、W 必须与电机 U、V、W 一一对应 z 用户在使用本产品时务必在设计与装配时考虑安全防护措施，以防止
因错误的操作引起意外事故 z 驱动器和电机必须良好接地 z 在拆卸本驱动器前，必须断电 5 分钟以上
3.1、标准接线
本交流伺服驱动器的接线与使用的电机和控制方式等有关。
10
3.1.1、与武汉华大、常州常华、常州新月 4 对极电机控制接线图 3-1，对南 京苏强 110SQMA4IE 系列 4 对极电机只需将 UVW 接电机的 423 脚 对应参数 P34=2360、P35=4
20A
30A
50A
75A
100A 150A
≤1.2KW
25A ≤3.7KW
≤2.3KW ≤3.7KW ≤5.5KW ≤7.5KW
AC380V -15%～+10%
50A
75A
≤7.5KW ≤11KW
≤11KW
工作：45℃
存贮：-40℃～55℃
40%~80%无结露 86-106kpa ①位置控制 ②JOG 控制 ③速度控制 ④转矩控制 ⑤位置和速度控制 ⑥内部脉冲控制 ⑦电动刀架控制 ⑧位置和转矩控制 ①脉冲+方向 ②CW+CCW 脉冲 ③两相 AB 正交脉冲 0.01% ≤200Hz ≥500kHz 1：5000 内置 1/30000～30000/1 ≥300% 2500p/r 电机转速、电机电流、电机转矩、电机位置、位置偏差、指 令脉冲数、脉冲频率、直线速度、输入输出诊断 超速、过流、过压、欠压、过载、超差、编码器故障、温度 过高、内部芯片故障、模块故障
MOTEC_α_SLD智能伺服驱动器操作手册 V3.0 1
操作步骤 为了能使 MOTEC α 智能伺服驱动器能正常运行，请按照以下步骤进行操作和调试： (1) 网络操作模式/独立运行模式： 第一步：按照用户手册的指导安装驱动器硬件和软件； 第二步：利用 MotionStudio 上位机调试软件进行驱动器的调试和试运行； 第三步：利用以下方法之一进行驱动器的应用程序编程 利用 MotionLib 函数库编写应用程序； 独立运行模式编程； 利用驱动器的命令集进行 PLC、HMI 或其它嵌入式设备的编程； 第四步：根据所设计的应用程序和操作步骤对驱动器进行操作。 (2) 脉冲操作模式/模拟信号操作模式： 第一步：按照用户手册的指导安装驱动器硬件接线、软件； 第二步：利用 MotionStudio 上位机调试软件进行驱动器的参数设置； 第三步：利用脉冲或模拟信号控制驱动器驱动电机工作。
MOTEC α SLD 系列智能伺服驱动器
MOTEC αSLD 系列智能伺服驱动器 用户手册
Version 3.0
北京意美德科技发展有限公司 2011-06
北京意美德科技发展有限公司 北京市东城区东中街 58 号 美惠大厦 B 座 P.C. 100027 电话：+86 10－65546546 65542801 65542170 传真：86-10－65547015 网址：
MOTEC α 智能伺服驱动器用户手册
版本说明 版本号： 2009年10月8日发行，第一版。 2010年2月11日发行，第二版。 2011年6月15日发行，第三版。
版权信息： 北京意美德科技发展有限公司（以下简称“意美德”）版权所有。 意美德对本文拥有版权。未经书面授权，不可将本文的全部和部分内容进行复制，翻 印，收录，再加工或任何形式的转让。 本文的编著几经审校。但是，意美德不对其内容和推论中可能存在的错误担责。因用 户原因使用不当而对产品用户造成的直接或间接损失，意美德同样免责。 使用本产品时务必遵照使用说明，以免造成设备或人身伤害。 最新版本的使用说明书可在下载。
MOTECα低压智能伺服驱动器CAN总线操作手册-MOTEC中国
MOTEC α低压智能伺服驱动器CAN总线操作手册Version 1.2MOTEC(中国)营业体系2011-11版本说明版本号：2010年8月11日发行，第一版, Version 1.1。
2011年11月15日发行，第二版, Version 1.2。
目录1. 概述 (4)1.1 系统连接 (4)1.2 通讯设定 (5)2. 通讯协议 (6)3．指令集 (7)4. 操作示例 (22)4.1 位置控制模式 (22)4.2 速度控制模式 (23)5. 驱动器参数表 (24)1. 概述MOTEC α智能伺服驱动器集成了RS232、RS485和CAN 总线三种通讯方式，本文档说明了利用CAN 总线进行通讯时系统的设置、连接和使用方法。
注意：本文档说明的是利用CAN 总线通讯方式，采用MOTEC 自定义协议进行上位机和驱动器的通讯操作。
1.1 系统连接MOTEC α驱动器提供了3种通讯方式，分别是RS232、RS485和CAN 总线。
RS232和RS485连接方式可以使用MODBUS 或MOTEC 自定义通信协议，而CAN 通讯采用MOTEC 自定义协议。
使用motionStudio 上位机软件来连接驱动器时只能使用RS232或RS485通讯方式。
通讯接口的定义如图1所示，图2显示了CAN 总线的连接示意图，更详细的使用方式请参考用户手册。
图1 MOTEC α智能驱动器通讯接口定义图 2. CAN 总线连接示意图CANH CANLCANH CANL MOTEC CN4和CN5 网络插头(母头)Pin Signal PinSignal1 GND 5 RS232R 2RS485A6 CANH 3 RS485B7 RS232T4CANL 8保留1.2 通讯设定在利用CAN总线建立通讯之前，需要进行如下的设置。
地址设定：驱动器的地址通过上位机软件motionStudio设定；通讯速率：CAN通讯下的通讯速率通过参数表中的第91号参数修改，其数值和通讯速率之间的关系如下表所示。
HCSE系列交流伺服用户手册(V1.02)
适配机型表
电机型号
HCMA-40L002030A□□S HCMA-40L003030A□□S HCMA-60L006030A□□S HCMA-60L006030A□□S HCMA-60L013030A□□S HCMA-60L019030A□□G HCMA-80L016030A□□S HCMA-80L024030A□□S HCMA-80L032030A□□S HCMA-90L024030A□□S HCMA-90L035020A□□S HCMA-90L040025A□□S HCMA-110L020030A□□S HCMA-110L040030A□□S HCMA-110L050030A□□S HCMA-110L040020A□□S HCMA-110L050020A□□S HCMA-110L060020A□□S HCMA-130L040025A□□S HCMA-130L050025A□□S
III
（1）请勿带电对设备进行维修及保养，否则有触电危险！ （2）确认在伺服驱动器Charge指示灯熄灭后才能对伺服驱动器实施保养及维修，否则电容上残余电荷会对人造成伤害！ （3）未经专业培训的人员请勿对伺服驱动器实施维修及保养，否则会造成人身伤害或设备损坏！
二、注意事项 ■电机绝缘检查
电机在首次使用、长时间放置后的再使用之前及定期检查时，应做电机绝缘检查，防止因电机绕组的绝缘失效二损坏伺服 驱动器。绝缘检查时，一定要将电机连线从伺服驱动器分开。建议采用500V电压型兆欧表，应保证测得绝缘电阻不小于5MΩ。 ■电机的热保护
Pn223 机型设置
1 2 3 0 4 5 6 9 15 8 23 24 7 15 16 10 14 22 12 19
HCMA-130L060025A□□S
1.5
MOTEC驱动器参数设置说明
MOTEC驱动器参数设置说明一、连接驱动器1、先将驱动器上的拨码开关拨到下图所示位置：2、将驱动器上所有的电缆线控制线全部接好，然后用通讯线连接驱动器和电脑，给驱动器上电。
注意：参数设置过程中不要接CN2。
驱动器的通讯口如下图所示：二、设置驱动器资源1、运行软件MotionPainter。
2、进入到软件界面，如下图所示：点击“设置”菜单里的“通讯设置”，会弹出上图所示的窗口。
通讯方式选择“RS232”，驱动器地址“自动”，通讯端选择正确的COM口，其它参数如上图所示设置。
设置完成后，点击“连接”，如果如下图所示图标变绿，说明已经正确连接。
如无变化，说明线缆未连接好，或者参数未设置正确，请检查，指导可以正确连接到设备。
3、驱动器正确连接后，关闭“通讯设置”窗口。
点击“文件”菜单，选择“打开”，打开指定的工程文件，如下图所示：4、打开工程之后，选择窗口左侧的“驱动器参数”，并打开。
弹出窗口如下图所示：5、开始设置参数。
0017~0033的参数如下图所示设置。
将要写入的参数填到“修改”栏，然后点击“设置”即可。
6、0034~0050的参数如下图所示设置。
8、0068~0084的参数如下图所示设置。
注意：0081和0082不需要修改。
10、设置完成后点击保存，并关闭窗口。
11、点击“调试”菜单中“下载程序”，下载完成后，下部提示窗口如下图所示。
关闭应用程序。
注意：提示“是否要保存更改”，选择不保存。
如下图所示。
三、设置运行参数1、打开触摸屏模拟调试的工程文件，如下图所示。
2、打开工程后，点击“编辑”菜单中的“系统参数设置”，弹出窗口如下图所示。
3、在上图所示窗口中，点击“设置”按钮，弹出窗口如下图所示。
4、接口类型选择RS-232。
点击“设置”按钮，选择连接驱动器的COM口，点击“确定”。
端口参数设置如下图所示。
5、设置完成后，点击“确定”，关闭上述窗口。
点击“工具”菜单中的“编译”，弹出窗口如下图所示。
OMRON SMARTSTEP A系列 中文说明书
第2章 商品型號、規格
2-3 驅動器規格
g 型號/名稱 : R7D －AP □型/ SMARTSTEP A 系列伺服驅動器
0~+55℃ 90% RH 以下 （不可以結露） 20~+85℃ 90% RH 以下（不可以結露）無腐蝕性氣體。
10~55Hz 複振.1mm 或是加速度4.9 m/s 2以下，其中較低的一方，X 、 Y 、 Z 方向
加速度19.6 m/s 2 以下X 、 Y 、 Z 方向 各3次
電源端子、動力端子與FG 之間 0.5M Ω 以上 （DC500V 電阻）
控制盤內置型(IP10)
項
目
請配合目前使用的馬達，選擇伺服驅動器。
※1. 上述項目是單獨評估試驗的結果。
複合條件下的結果不在此限。
※2. 驅動器嚴禁實施耐電壓試驗、電阻測試，否則內部元件可能受損。
※3. 驅動器的組件中，有部份組件必須因其使用條件而善加維修。
詳細內容請參閱「4-5 定期維護」。
※4. 在平均環境溫度40℃之下，驅動器的使用壽命為5萬小時(額定轉矩的80%輸出)。
2－3－1 一般規格
規
格
保存環境的溫度、濕度使用、保存環境耐振性耐撞擊 絕緣電阻 耐電壓 保護構造
使用環境的溫度、濕度電源端子、動力端子與FG 之間 AC1500V 50∕60Hz 1分鐘 各控制訊號與FG 之間 AC500V 1分鐘。
工业缝纫机伺服控制器用户手册说明书
工业缝纫机伺服控制器用户手册前言注意： 使用前请详细阅读本用户手册及所搭配的缝制设备说明书，配合正确使用，并须由接受过专业培训的人员来安装或操作。
本产品仅适用于指定范围的缝制设备，请勿移做其他用途。
本公司拥有对此用户手册的最终解释权。
使用中若存有任何疑问或对我们的产品及服务有任何意见或建议，请随时与我们联系。
安全说明1)安装和调试前，请仔细认真地阅读本手册。
2)本手册中标有符号之处为安全注意点，必须特别注意并严格遵守，以免造成不必要的损害。
3)本产品须由受过专业培训的人员来安装或操作。
4)确保电源安全接地并符合产品铭牌上标示的电压范围及技术要求。
第 1 页共 8 页第 2 页 共 8 页5) 接通电源开关时，请把脚离开脚踏板。
6)在进行以下操作时，必须先断开系统电源：■ 安装机器时；■ 在控制箱上插拔任何连接插头时； ■ 穿针线，换机针及翻抬机头时； ■ 机器休息不用及修理或调整时。
7) 拧紧所有紧固件，以防止缝制作业时产生振动或停针位置错位等异 常现象。
8) 每次关闭控制系统后再次启动，应相隔30秒以上。
9) 设置系统控制参数或进行保养修理工作应由受过相关培训的专业人 员来完成。
10) 维修所用的所有零部件，必须由本公司提供或认可，方能使用。
11) 接地线的安装（特别注意）。
注意：安装控制器时必须正确接地，否则将导致控制器无法正常工作，更严重的可能会被电击（详见安装章节）。
1. 产品介绍 1.1 概述此系列工业缝纫机数控交流伺服系统，电机与控制器分体吊装，使配置组合灵活方便，电机与控制器可按需搭配，实现多种缝纫机对功率、速度等的配套要求；安装简易、调整便捷、力矩大、体积小、噪音低、效率高（省电！）；采用开关电源供电，使其具有更宽的电压适配范围；电磁铁侧面接插，使连接更可靠，避免油渍污染引起的控制器故障；优化交流伺服电机控制策略，使转速控制精度高，停针速度快；专利设计的吊装方式使安装更简捷，整体震动降至最低，系统运行更平稳;具有电磁铁回路短路保护功能，防止错误接线损坏控制器。
伺服电机使用手册
伺服拖动系统使用手册（V1.0）哈尔滨晟普科技有限公司前言感谢您购买晟普科技SP系列抽油机伺服拖动系统。
本使用说明书介绍了如何正确使用SP系列抽油机伺服拖动系统。
在使用（安装、运行、维护、检查等）前，请务必认真阅读本使用说明书。
另外，请在理解产品的安全注意事项后再使用该产品。
与安全有关的标记说明本手册根据与安全有关的内容，使用了下列标记。
有安全标记的说明，表示重要内容，请务必遵守。
表示如果操作错误，将会导致危险情况的发生，造成死亡或重伤。
表示如果操作错误，将会导致危险情况的发生，可能会造成中等程度的受伤或轻伤，或设备损坏。
另外，即使是标识中所述事项，有时也可能会造成严重的后果。
表示不属于“危险”和“注意”，但非常重要，需要用户遵守的事项。
安全注意事项⏹到货时确认◆请勿安装受损或缺少零件的伺服驱动器和电机否则会有受伤的危险。
⏹保管与搬运◆搬运伺服驱动器时轻拿轻放；运输时，确保伺服驱动器包装完好，防止振坏。
◆请勿保管在下述环境中，否则会导致触电、机器损坏或引发火灾：•阳光直射的场所•环境温度超过保管、设置温度条件的场所•相对湿度超过保管、设置湿度条件的场所•有水、油及药品滴落的场所•振动或冲击可传递到主体的场所◆请勿盘坐在本产品上或者在其上面放置重物.否则可能会导致设备故障或人员受伤◆请勿握住电缆线或电机轴进行搬运。
否则会导致设备故障或人员受伤⏹安装◆安装时请轻拿轻放。
◆只有具备资格的电气工程师才允许安装和维护伺服单元。
◆请勿将该产品安装在会溅到水的场所或易发生腐蚀的环境中。
否则可能会导致触电或引发火灾。
◆请勿将该产品安装在易燃性气体及可燃物的附近。
否则可能会导致触电或引发火灾。
◆安装过程中请勿使异物进入产品内部。
否则可能会导致故障或引发火灾。
◆请确保伺服单元与其他机器之间具有规定的间隔。
否则会导致故障或引发火灾。
◆请勿施加过大冲击。
否则可能会导致故障。
◆伺服驱动器外壳必须安全接地。
⏹配线◆请勿在伺服单元的输出端子U、V、W上连接三相AC380V电源。
MOTEC智能驱动器PVT控制模式操作手册说明书
MOTEC智能驱动器PVT控制模式操作手册Version 2.1MOTEC(中国)营业体系2017-06-01版本说明：2017年11月06日发行，Version 2.1；版权信息：本手册为MOTEC(中国)营业体系（以下简称“MOTEC(中国)”）版权所有。
MOTEC(中国)对本手册拥有版权，未经书面授权，不可将本文的全部或部分内容进行复制、翻印、收录、再加工或任何形式的转让。
本文的编著几经审校。
但MOTEC(中国)不对其内容和推论中可能存在的错误担责。
因用户原因使用不当而对产品或用户造成的直接或间接损失，MOTEC(中国)同样免责。
使用本产品时务必遵照使用说明，以免造成设备或人身伤害。
本文中的内容的表述力图精确、可靠，但错误和疏忽之处再所难免，MOTEC（中国）保留随时修改和完善本文档的权利。
最新版本的使用说明书可在 下载。
联系方式:MOTEC（中国）营业体系北京诺信泰伺服科技有限公司地址：北京市通州区环科中路17号11B (联东U谷西区)电话：************-666传真：************邮编：100027网址：eMail：*********************目录1.PVT基础 (4)2.PVT通讯指令和寄存器 (5)2.1PVT通讯指令 (5)2.1.1 写数据到PVT队列 (5)2.1.2 获取参数表参数 (6)2.1.3 设置参数表参数 (6)2.1.4 写PVT数据到驱动器Flash (7)2.2 PVT相关寄存器 (8)3.PVT模式使用说明 (9)3.1PVT数据存储格式 (10)3.1.1位置和速度存储格式 (10)3.1.2PVT队列 (11)3.1.3 PVT数据内置Flash (12)3.2PVT通讯队列模式 (13)3.3 PVT内部模拟模式 (14)4.使用PVT模式注意事项 (15)4.1异常情况发生及处理 (15)4.2PVT模式下其他控制功能的使用 (15)4.3PVT周期时间的选择 (15)4.4速度设定值对PVT结果的影响 (15)4.5绝对运动和相对运动 (15)4.6PVT/PT说明 (15)5.CANopen模式下使用PVT功能 (16)5.1PVT功能相关对象字典 (16)5.2PVT功能相关对象字典 (16)5.2.1 对象0x609C:PVTQUEUE_HEAD (PVT队列头) (16)5.2.2 对象0x609D:PVTQUEUE_TAIL (PVT队列尾) (17)5.2.3 对象0x609E:PVTQUEUE_STATUS (PVT队列状态) (17)5.2.4对象0x609F:PVTQUEUE_ALARM_SIZE (PVT队列数据报警阈值) (17)5.2.5 对象0x60A0:PVTQUEUE_CLEAR (清空PVT队列) (18)5.2.6 对象0x60A1:PVT_TIME (PVT周期) (18)5.2.7对象0x60A2:PVT_RUNMODE (PVT运行模式) (19)5.2.8对象0x60A3:PVT_ RUNSTOP (PVT启动停止) (19)5.2.9对象0x60A4: CANOPEN_PROFILE_PVTSIMAPLLITUDE (PVT内部模拟模式幅值) (19)5.2.10 对象0x60A5:PVT_SIM_PERIOD(PVT内部模拟模式周期) (20)5.2.11 对象0x60A6: PVT_RUNTIMES(PVT内部Flash模式运行次数) (20)5.2.12 对象0x60A7: PVT_FILTER(PVT滤波器) (21)5.2.13 对象0x60A8:CANOPEN_PVT_POSITION(PVT位置值) (21)5.2.14 对象0x60A9:CANOPEN_PVT_VELOCITY(PVT速度值) (21)5.3CANopen通讯下PVT功能的实现 (22)5.3.1配置步骤 (22)6.联系方式 (22)1.PVT基础PVT(Position,Velocity,Time)控制模式即利用一个固定时间间隔的位置和速度序列重建较复杂曲线的运动轨迹的轨迹规划过程。
MOTEC_α系列伺服使用手册v1[1].1
![MOTEC_α系列伺服使用手册v1[1].1](https://img.taocdn.com/s3/m/4d450783d4d8d15abe234e4e.png)
A1E 系列交流伺服驱动器 用户手册说明书
基本规格 ........................................................................................................................................... 4
速度、位置、转矩控制规格 ........................................................................................................... 5
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安全提醒 ................................................................................................................................................... 1
伺服驱动器使用说明书
MMT-直流伺服驱动器使用手册济南科亚电子科技有限公司直流伺服驱动器使用说明书一、概述：该伺服驱动器采用全方位保护设计，具有高效率传动性能：控制精度高、线形度好、运行平稳、可靠、响应时间快、采用全隔离方式控制等特点，尤其在低转速运行下有较高的扭矩及良好的性能，在某些场合下和交流无刷伺服相比更能显示其优异的特性，并广泛应用于各种传动机械设备上。
二、产品特征：◇PWM控制H桥驱动◇四象限工作模式◇全隔离方式设计◇线形度好、控制精度高◇零点漂移极小◇转速闭环反馈电压等级可选◇标准信号接口输入0--±10V◇开关量换向功能◇零信号时马达锁定功能◇上/下限位保护功能◇使能控制功能◇上/下限速度设定◇输出电流设定功能◇具有过压、过流、过温、输出短路、马达过温、反馈异常等保护及报警功能三、主要技术参数◇控制电源电压AC：110系列：AC ：110V±10%220系列：AC ：220V±10%◇主电源电压AC：110系列：AC 40----110V220系列：AC50---- 220V◇输出电压DC：110系列：0—130V或其它电压可设定220系列：0—230V或其它电压可设定◇额定输出电流：DC 5A（最大输出电流10A）DC 10A（最大输出电流15A）DC 20A（最大输出电流25A）◇控制精度：0.1%◇输入给定信号：0—±10V◇测速反馈电压：7V/1000R 9.5V/1000R13.5V/1000R 20V/1000R可经由PC板内插片选定并可接受其它规格订制四、安装环境要求：◇环境温度：-5ºC ~ +50ºC◇环境湿度：相对湿度≤80RH。
（无结露）◇避免有腐蚀气体及可燃性气体环境下使用◇避免有粉尘、可导电粉沫较多的场合◇避免水、油及其他液体进入驱动器内部◇避免震动或撞击的场合使用◇避免通风不良的场合使用五、电源输入说明该驱动系统分两路电源输入：即U1、V1为主电源输入，U2、V2为控制电表1注：1、驱动器的主电源（即U1 V1）独立供电时，若电源开路时，驱动器会报警（面板上的T.F灯亮）待故障排出后，驱动器自动回复正常。
亿丰电子伺服手册
2.1 系统组成与接线 ................................................................................................ - 8 -
第 3 章 显示与操作 ........................................................................................- 25 -
3.1 面板组成.......................................................................................................... - 25 -
！!
产品到达后，进行确认、安装、配线、运行维护、检查时，以下是必须遵守的重要事项： ●安装时注意事项：
！警告
严禁安装在潮湿及会发生腐蚀的环境、有易燃性气体的环境下、可燃物的附近及灰尘、金属粉 末较多的环境，否则有可能会发生触电和火灾。
●配线时的注意事项：
！警告
◢ 伺服驱动器的接地端子必须接地，否则，可能会发生触电和火灾。 ◢ 严禁把伺服驱动器的输出端子 U， V， W ，连接至三相电源，否则，可能受伤和引发火灾。 ◢ 严禁把220V驱动器连接至380V电源，否则可以触电和引发火灾。 ◢ 务必将电源端子、电机输出端子拧紧，否则有可能会引发火灾。
2.3.3 速度/转矩控制接线图(标准版).......................................................................................- 23 2.3.4 速度/转矩控制接线图(进阶版).......................................................................................- 24 -
法奥克伺服控制器说明书
法奥克伺服控制器说明书法奥克伺服控制器是一种高性能运动控制器，广泛应用于各种机床、自动化设备和机器人等领域。
以下是法奥克伺服控制器的说明书：一、产品概述：法奥克伺服控制器采用高速数字信号处理器（DSP）和专用运动控制处理器，并应用了高级控制算法，可以实现精确、高速、稳定的运动控制。
同时，该控制器还具有同步操作、多轴联动、位置/速度/加速度/力控制等功能。
二、产品特点：1.控制精度高、控制稳定性好。
2.支持多轴联动、同步操作，可以实现大规模运动控制。
3.多种控制方式可选，包括位置控制、速度控制、加速度控制、力控制等，满足不同应用场景需求。
4.支持外部编码器反馈，提高运动精度和稳定性。
5.具有良好的扩展性和可编程性，可以根据用户需求进行二次开发和定制。
三、产品参数：1.控制轴数：1-8轴可选。
2.控制精度：位置精度 < 1um，速度精度 < 0.01%。
3.运动模式：位置、速度、加速度、力控制等多种模式。
4.数据采样：最高可达1ms/轴。
5.通讯接口：支持CAN、RS232、RS485等多种通讯接口。
6.电源输入：AC220V±10%。
四、安装和使用：1.将控制器固定在机床或自动化设备上，连接电源和运动控制信号线。
2.根据实际需求，进行液晶屏、通讯接口等配置。
3.进行参数设置和调试，保证控制器正常运行。
4.在运行过程中，根据实际情况进行维护和保养，保证设备正常工作。
以上是法奥克伺服控制器的说明书。
如果您需要详细了解该产品的其他信息，可以参考产品的详细说明书或者咨询法奥克公司客服。
斯托伯同步伺服电机操作手册 螺杆驱动同步伺服电机 EZ, EZF, EZH, EZHD, EZHP说
107/2015W E K E E P T H I N G S M O V I N GID 442581_en.03STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANY Tel.: ++49 7231 582-0These operating instructions contain information about the transport, installation and commissioning of STOBER EZ,EZF, EZH, EZHD, EZHP synchronous servo motors and EZS,EZM synchronous servo motors for screw drive.For further details, see catalogs SMS-EZ (ID 442212) and EZS/EZM synchronous servo motors for screw drive (ID442416).In the event of any unclear points, we recommend that youcontact STÖBER with the model designation and serial number, or have the installation and maintenance workcarried out by a STÖBER service partner.1Operation in accordance with its intended useSynchronous servo motors must be used exclusively for operating machines and systems together with servo inverters.Stay within the limits defined by the technical data.Do not use synchronous servo motors in potentially explosive atmospheres.For reasons of operational safety, motors may only be used for the single application for which they were projected. Any overload on the drives is considered unintended use.The information and instructions in these operating instructions must be precisely followed to ensure that claims submitted under the warranty will be honored. If modifications are made to motors, warranty claims will be rendered ply with the safety instructions in these operating instructions and in all supplementary documents for the synchronous servo motor and other components such as gear units and servo inverters.2Technical dataThe technical data for synchronous servo motors, gearedmotors and servo inverters that are used is indicated on the relevant nameplates. Acceleration / shock load in operation:The following value for the shock load indicates the value up to which the motor can be operated without loss of functionality: 50 m/s² (5 g), 6 ms (maximum value as per DIN EN 60068-2-27).Brace the motor connection cable close to the motor so that vibrations of the cable are not transferred to the motor.When connecting the motors to drive units such as gear units or pumps, take into consideration the permissible shock loads and tilting torques of the units.NOTICEDamage to the motor.X Prevent undue force on the motor such as impact, shock,pressure or high acceleration.Designs:IMB5, IMV1, IMV3(DIN EN 60034-7)Protection class:EZ, EZF, EZHD: IP56EZHP: IP56 / IP66 (option)EZH: IP54EZS, EZM: IP40(DIN EN 60529)Protection class:IThermal class:155 (F) (DIN EN 60034 / VDE 0530) 155 °C, heating ∆T = 100 KSurrounding temperature:-15 °C to +40 °C (with water cooling +5 °C to +40 °C)Installation altitude:up to 1000 meters above sea levelCooling:For IC 410 convection cooling;or optional IC 416 convection cooling with forced ventilation (DIN EN 60034-6), see 2.4.1;or optionally for water cooling in the A-side motor flange, see 2.4.2Surface:Black matte as per RAL 9005Please note! Repainting will change the thermal properties and therefore the performance limits of synchronous servo motors.Vibration intensity:as per DIN EN 60034-14 degree N(half wedge balancing for shafts with key).Winding:Connection wires: U (U1) - black, V (V1) - blue, W (W1) - red.Connection method:see motor connection diagramsInformationIf brakes are installed, the holding torques may be reduced by the shock load!2ID 442581_en.03W E K E E P T H I N G S M O V I N G07/2015STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANYTel.: ++49 7231 582-02.1Thermal winding protectionSynchronous servo motors are equipped with a thermistor (PTC thermistor) in the standard configuration. You can optionally select the KTY 84-130 as thermal winding protection.Make note of the information specified in the SMS-EZ catalogand in the commissioning instructions for the servo inverter.CAUTION!Overheating of the motor!If the thermal winding protection is not connected, the motor may overheat as a result.Possible consequences: destruction of the motor, danger of fire.X You must also take precautions to ensure that no hazardcould occur after the thermal winding protection has responded and the motor has then cooled off by unintentional automatic switching on of the motor again!Always connect to the thermal winding protection. If the thermal winding protection is not connected, the warranty is rendered void!2.1.1Thermal winding protection PTCThe PTC thermistor is a low-voltage sensor with max. 7.5 V DC connection voltage.Higher voltages will cause the thermistor and motor winding to be destroyed.Always connect to the thermistor. If the drive controller has no option for PTC evaluation, appropriate triggering devices must be used for this purpose.2.1.2Thermal winding protection KTY(optional)Synchronous servo motors can optionally be equipped with a temperature-dependent KTY 84-130 resistor as a temperature sensor in a winding. On the KTY the resistance changes in proportion to the temperature of the winding.The continuous sensor current i cont = 2mA.When making the KTY connection make certain the polarity is correct! The installed KTY protects the synchronous servo motors against overload only to a limited degree. For this reason the I2t monitoring parameter should be set to "WARNING".X Avoid currents >4mA in the KTY circuit, as these couldresult in excessively high self-heating of the temperature sensor and damage to its insulation and to the motorwinding.CAUTION!ESD/EGB safety informationThis product contains components that can be damaged or destroyed by electrostatic discharges.X Always avoid directly touching the pin contacts with yourfingers!2.2Encoder systemsSynchronous servo motors have an encoder system integrated into the motor for motor commutation and recording of position. Two-pole resolvers are possible as well as absolute encoders in various versions.Note the relevant motor connection diagram and the details on the motor nameplate. The encoder systems have been setto the respective servo inverters in the factory.WARNING!Changes to the factory settings of encoder systems may result in uncontrolled startup or vibrating movements of the motor shaft.XTherefore the factory settings must not be changed.CAUTION!ESD/EGB safety informationThis product contains components that can be damaged or destroyed by electrostatic discharges.X Always avoid directly touching the pin contacts with yourfingers!307/2015W E K E E P T H I N G S M O V I N GID 442581_en.03STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANY Tel.: ++49 7231 582-02.3Holding brake (optional)A brake with permanent magnet excitation can be installed toserve as a holding brake.Power supply: 24 V DC ± 5 % smoothed.The air gap of the brakes cannot be readjusted.CAUTION!An incorrect connection can cause the brake and motor to be destroyed.X Please note when connecting the brake the associatedmotor connection plan.2.3.1Brakes on gravity-loaded vertical axesWARNING!Unintentional lowering or falling of unsecured gravity-loaded vertical axes can lead to serious personal injuries or even death!X The holding brake of the motor does not provide adequate safety for person in the hazardous area around gravity-loaded vertical axes. Therefore the machine manufacturer must take additional measures to minimize risks (for example by providing a mechanical substructure for maintenance work).Check brake functionality for gravity-loaded vertical axes by performing a cyclic brake test. To do this load the brake with 1.3 times the load torque. Make certain while doing this that the suspended load of the vertical axis is already exerting torque on the motor when it is at a standstill. Take this into consideration when supplying power to the motor.2.3.2Testing holding brakeAfter making the connection check functionality and measure the holding torque of the holding brake.Please note, that the brake types are not defined as working brakes. Therefore braking from full speed during emergency stops (power failure or dangerous situations) and braking while setup mode is active are only permitted within the defined limits. For further details refer to catalog SMS-EZ.To ensure that the brakes receive the full braking torque, they are ground according to a special grinding cycles after final assembly of the motors. If a brake is not required to exert any friction over an extended period of time, the friction factor may change as a result. This can occur due to accumulations of flash rust or vapors resulting from the high motor temperature. Slight material distortion may also occur as a result of major fluctuations in temperature. All of these factors affect the braking torque.If the brake does not exhibit the required braking torque, it must be reground.To do this, drive the motor as well at max. 20 rpm. Release and close the brake once per second so that the motor is required to work against the closed brake for about 0.7 seconds. After about 20 cycles perform the process in the reverse direction of rotation. In some circumstances you may need to perform this process several times until the nominal holding torque of the brake has been reestablished. If the braking torque has not been reestablished after the grinding process is repeated four times, other factors may also be responsible (for example reaching the wear limit). Options for automatically integrating a grinding routine, if available, are described in the documentation for the relevant servo inverter2.4Motor coolingCAUTION!Overheating of the motor!Reduced cooling, for example due to accumulation of dirt or fan failure, will cause the motor to overheat, thereby resulting in damage and/or destruction of the winding.X Therefore check the functionality of the external fanduring commissioning and at regular intervals thereafter.2.4.1Forced-air cooling (optional)External ventilation is optional and can also be retrofitted due to the modular layout. This makes it possible to optimize drives subsequently. Technical data can be found on the nameplate and in the SMS-EZ catalog in the Motor section.2.4.2Water cooling (optional)Material damage!To prevent damage to the synchronous servo motor or your machine, please observe the following:X Comply with the coolant specifications described in thischapter.X The nominal data for synchronous servo motors withwater cooling refers to water as a coolant. If another coolant is used, you will have to determine the nominal data again.X Coolant with fresh water from the public supply grid withcoolants, lubricants or cutting agents from the machining process is not permitted.X If the temperature of the coolant is lower than thesurrounding temperature, interrupt the supply of coolant when the motor is stopped for extended times to prevent condensation water from forming.Cooling circuit specification InformationThe brake must only be tested at a motor speed of max. 20 rpm!Feature Description CoolantWaterTemperature at inlet +5 °C to +40 °C (max. 5 K below the surrounding temperature) Cooling circuit Closed, with recooling unitCleanliness Clear, with no suspended matter or dirt(use particle filter ≤ 100 μm if necessary)pH value 6.5 – 7.5Hardness1.43 –2.5 mmol/l4ID 442581_en.03W E K E E P T H I N G S M O V I N G07/2015STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANYTel.: ++49 7231 582-03Safety informationAlso follow the instructions in the operating manuals as well as applicable national, local and system-specificrequirements.WARNING!- Danger of electrical shock if unpainted parts conducting voltage are touched.- Moving and rotating parts can cause injuries- Touching the gear unit and motor housing may cause burns (surface temperatures of over 100°C are possible)X The machine manufacturer must provide suitable protective measures. The connector or terminal boxcover of the motor must remain closed during operation. All work on the drive must only be performed when nocurrent is present.WARNING!Incorrect operation, improper use, insufficient maintenance or unauthorized removal of required covers can result in severe injuries or material damage!3.1Personnel requirements All work on the electrical equipment of the drive units must be performed by qualified electricians. Installation, maintenance and repairs of mechanical parts must be performed by fitters, industrial mechanics or persons with comparable qualifications.3.2In the event of disruptionsChanges compared to normal operation indicate that thefunction has been impaired. This includes:- Higher power consumption, temperatures or vibrations - unusual noises or odors - Leaks on the gear unit- Monitoring devices respondingX If any of these occur shut down the machine as quickly aspossible and notify the responsible qualified specialist without delay.The heat produced while a motor is in operation must be dissipated into the surrounding air as efficiently as possible.Reduced heat dissipation is frequently the reason why temperature monitoring devices respond.Accumulations of dirt reduce the performance of the motor.X Therefore remove dirt that has settled on the surface ofthe motor regularly.3.3Safety during installation and maintenanceDamage to the motor.X Prevent undue force on the motor such as impact, shock,pressure or high acceleration.WARNING!Risk of injury due to moving parts.X The machine manufacturer must provide suitableprotective measures for personnel who must work in the travel range of a motor within a system or machine, especially under raised loads.3.4Safe function and EMC of the drivesystemThe drive controller, cable and motor must be matched to each other. Each product has specific electrical properties in and of itself that may affect other products. Unsuitablematches can therefore result in impermissibly high voltage peaks on the motor or drive controller, which could destroy the motor and cause malfunctions in the system. Legal requirements for EMC (electromagnetic compatibility) must also be observed.STÖBER offers a product line of matching cables to ensure this with suitable shielding technology and cable layout for the power connection and the various encoder systems. Using other connection cables and drive controllers may result in voiding of any claims made under the warranty.Salinity NaCl < 100 ppm, demineralized AnticorrosiveMaximum percentage 25 %,neutral relative to AlCuMgPb F38, GG-220HBOperating pressure ≤ 3.5 bar (provide a pressure relief valve in the supply line)Flow rateEZ4 – EZ5: 6 l/min ( 4.5 l/min)EZ7 – EZ8: 7.5 l/min ( 5.0 l/min)Feature Description507/2015W E K E E P T H I N G S M O V I N GID 442581_en.03STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANY Tel.: ++49 7231 582-03.5EZF, EZH, EZHD, EZHP synchronousservo motorsThe hollow shaft of the motors moves in relation to the supply elements passing though during operation.X The supply elements must be protected so they do notscrape against the hollow shaft.CAUTION!The hollow shaft can heat up to 100°C in operation.X Observe the temperature for the supply elements thatpass through.3.6Servo spindle motors EZS/EZMDestruction of the spindle system!Removing the spindle shaft from the spindle nut will cause the system to be destroyed and will void the warranty.XNever remove the spindle shaft from the spindle nut!WARNING!Risk of injury due to moving parts!Make certain before commissioning thatX the spindle shaft and motor are installed in the machinebefore you place the drive in operation.X no persons will be endangered by the axial movement ofthe spindle shaft or slide.X no one touches the spindle shaft by coming in physicalcontact with it.WARNING!Crushing due to contact with the spindle shaft!Turning the spindle shaft manually with your hand can lead to crushing injuries.XNever turn the spindle shaft manually.CAUTION!When EZM synchronous servo motors for screw drives are in operation the spindle shaft moves axially in reference to the motor.X Fix the spindle shaft in place and install it in the machine. X Screw the motor together with the machine or movingslide.X Make certain there are no objects in the axial movementrange of the slide or spindle shaft.4Transport, storage and preservationThe motors must not be exposed to acceleration levels or working times of more than 300 m/s² (30 g) as an individual shock load during transport as per EN 60 068-2-27. The values for operation apply to long-term shock loads.When transporting the motors make certain not to damage the shafts and bearings with impacts.The motors may only be stored in enclosed, dry rooms. Storage in open air areas with a roof is only permitted for brief periods. Protect the motors from all damaging environmental effects and mechanical damage.If you will be storing or transporting the system in which a synchronous servo motor with water cooling is installed below +3 °C, drain the water completely out of the cooling circuit in advance.Avoid extreme temperature fluctuations with high relative humidity when the motors are being stored temporarily to prevent formation of water from condensation. If long-term storage is planned, protect the bare parts of the motor against corrosion. Before placing a motor in operation again, have the winding checked for its insulation resistance by an electrical specialist.Do not use the fan cover for transport or storage of the motors. For transport, use the eyebolts on the motors, together with suitable slings.Eyebolts are provided only for lifting the motor without additional attachments. When you remove the eyebolts after installation, the threaded holes must be permanently closed corresponding to the protection type of the motors.6ID 442581_en.03W E K E E P T H I N G S M O V I N G07/2015STÖBER ANTRIEBSTECHNIK GmbH & Co. KG GERMANYTel.: ++49 7231 582-05MountingCompletely remove all corrosion protection on the shaft ends prior to installation.The lip seals of the shaft seal rings can be damaged by the use of solvents.X When removing the corrosion protection, make sure thatthe lip seals of the shaft seal rings do not come into contact with solvents.Tab. 5-1: Assembly information for clamping units6Commissioning Electrical connections provided by the customer must comply with applicable regulations.Note:The electrical connection diagram and safety regulations are with the delivery documents of the motor. Comply exactly withthe information and safety regulations therein.WARNING!Danger of injury from moving parts.Before commissioning the drive unit, ensure that...X no one will be endangered by startup of the machine.X all protective guards and safety equipment have beenproperly installed, also for a test run!Xthe drive unit is not blocked.X the brakes have been bled.X the direction of rotation is correct.Xcomponents mounted on the power take-off end are sufficiently secured against centrifugal force (e.g. fitting keys, coupling elements, etc.)7Maintenance7.1Servo spindle motors EZS/EZMAxial angular ball bearings are installed on the A-side in the EZS and EZM motors that directly absorb the threaded spindle forces. These axial angular ball bearings are greasedwith lithium soap grease GA28 at the factory. Under certain application conditions, for example after a prolonged downtime or for high humidity, relubrication may be required. Mineral-based grease is suitable for relubrication, for example Arcanol Multitop.Protect the threaded spindle against dirt.8TroubleshootingIn the event of a malfunction of the drive unit, call the STÖBER service department at 07231 582-1190 (-1191, -1224, -1225) in order to locate the nearest STÖBER service partner for further action.In urgent cases outside of normal business hours, you can call the STÖBER 24-hour service hotline at 01805 786323 / 01805 STOEBER9Spare partsInclude the following when ordering replacement parts:–item no. of the part according to the replacement parts lis –model designation according to the rating plate –serial number according to rating plateYou can reach the STÖBER replacement parts service by phone: 07231 582-1190 (-1191, -1224, -1225), or fax: 07231 582-1010.Important notice: The replacement parts lists are not assembly instructions! They are not binding for assembly of the gear unit. Use only original replacement parts from Stöber. Otherwise we will provide no guarantee and will assume no liability for resulting damages!10DisposalThis product contains recyclable materials. Observe local applicable regulations for disposal.Mount the threaded spindle on the EZS motor:1.Degrease the threaded spindle in the area where it comes into contact with the clamping unit.2.Insert the threaded spindle through the clamping set in the hole of the motor shaft.3.The wrench size and the tightening torque that corresponds to the size of your EZS motor can be found in the table Tab. 5-1: 4.Tighten the hexagonal screws of the clamping unit successively in several tightening sequences (approx. 1/4 revolution per sequence) properly with a torque wrench until all of them are tightened to the prescribed tightening torque. Make sure that both spring washers lie parallel to each other (maximum permitted deviation 0.2 mm).EZS5EZS7Thread M5M6Strength class 8.810.9Wrench size [mm]810Tightening torque [Nm]512。
迈信伺服驱动说明书
编码器信号端子
X2
≥0.14mm2(AWG26),含屏蔽线
编码器电缆必须使用双绞线。如果编码器电缆太长(>20m)，会导致编码器供电不足，
其电源和地线可采用多线连接或使用粗电线。
6
EP1 交流伺服驱动器简明手册
2.1.4 电机和电源接线图
伺服驱动器电源采用三相交流220V，一般是从三相交流380V通过变压器获得。特殊情 况下，小于750W电机可以使用单相220V(单相电源接入L1、L2，让L3悬空)。
三相 AC 220V TSR
1QF
伺服驱动器
FIL
主电源OFF 主电源ON 1RY
1KM
L1
L2
L3
1KM
L1C
L2C
DC24V
1KM D
1RY
PRT
X1
伺服准备好 RDY DO 1 4
DO公共端
DO COM
18
U V W
X2
伺服电机
U
V
M
W
ENC
1QF：断路器 FIL：噪声滤波器 1KM：电磁接触器 1RY：继电器 PRT：浪涌吸收器 D ：续流二极管
1.4.2 安装方法
水平安装：为避免水、油等液体自电机出线端流入电机内部，请将电缆出口置于下方。 垂直安装：若电机轴朝上安装且附有减速机时，须注意并防止减速机内的油渍经由电
机轴渗入电机内部。 电机轴的伸出量需充分，若伸出量不足时将容易使电机运动时产生振动。 安装及拆卸电机时，请勿用榔头敲击电机，否则容易造成电机轴及编码器损坏。
接收器，必须接终端电阻，阻值220
如6N137)，限流电阻阻值220Ω左右。
Ω～470Ω；
驱动器编码器信号地(GND)必须和上