100HA系列伺服驱动器使用说明书
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的区分，故应在”PA66”中设定”0”或”1”来区分其电机。 “PA66”=”0”为四极电机(即二对极电机)； “PA66”=”1”为八极电机(即四对极电机) 如上述参数设定出错，则交流伺服驱动器报警，报警号为”AL-1”。
注意：以上注意事项敬请仔细阅读
目录
第 1 章 规格 ··········································································································1 1.1 伺服驱动器规格 ·····················································································1 1.2 伺服驱动器尺寸 ·····················································································2
许在开启电源的情况下，改变接线。 ——禁止暴露在水分、腐蚀性气体、可燃性气体等物质中使用本产品。 ——电机绕组对外壳的绝缘电阻应大于 10MΩ。 ——使用前应仔细阅读本说明书和有关电机的说明书。 ——本说明书连接图中电机侧信号引脚号以华大电机为例，不同厂家引脚号可能
不同。 ——因交流伺服电机有关Baidu Nhomakorabea四极电机(即二对极电机)与八极电机(即四对极电机)
第 5 章 报警与保护功能·····················································································41 5.1 报警一览表 ···························································································41 5.2 报警原因与处理方法 ···········································································42
注意事项
——驱动器端子排 R、S、T 动力电源为单相交流 220V（接 R、S、T 任意两端）或 三相交流 220V（接 R、S、T），推荐使用单相或三相隔离变压器。PE 为接地 端子。
——r、t 为驱动器控制电路电源，接单相交流 220V。 ——驱动器不能直接接交流 380V，否则会造成驱动器损坏。 ——驱动器端子排 U、V、W、PE 端子必须与电机的 U、V、W、PE 一一对应连接。 ——电机后部装有精密编码器，安装时严禁敲击电机。 ——电机后部的精密编码器已调整零点，用户不允许自行拆卸反馈元件。 ——为避免水、油等流入电机内，安装电机时尽可能请将电缆插头朝下。 ——断电后，驱动器内部仍有残余高压，因此 5 分钟内不得接触强电端子；不允
第 7 章 运 行 ······································································································51 7.1 接地·······································································································51 7.2 工作时序·······························································································51 7.2.1 电源接通次序 ·············································································51 7.2.2 时序图 ·························································································52 7.3 机械制动使用·······················································································53 7.4 注意事项·······························································································54 7.5 试运行···································································································55 7.5.1 行前的检查 ················································································55 7.5.2 JOG 操作 ·····················································································56 7.5.3 手动试运行操作··········································································57 7.6 位置控制模式的简单接线运行····························································58 7.7 速度控制模式的简单接线运行····························································60 7.8 调整 ······································································································61 7.8.1 基本增益调整 ·············································································61 7.8.2 基本参数调整图··········································································62 7.9 相关知识·······························································································63 7.9.1 位置分辨率和电子齿轮的设置 ··················································63 7.9.2 位置控制时的跟随误差······························································63
6.2 第 2 层···································································································45 6.2.1 监视方式 ·····················································································45 6.2.2 参数设置 ·····················································································47 6.2.3 参数管理 ·····················································································47 6.2.4 速度试运行 ·················································································50 6.2.5 JOG 运行 ·····················································································50
第 3 章 接 口 ······································································································11 3.1 电源端子 TB·························································································11 3.2 控制信号输入／输出端子 CNl ····························································11 3.3 编码器信号输入端子 CN2···································································17 3.4 接口端子配置·······················································································18 3.5 输入／输出接口类型 ···········································································19 3.5.1 开关量输入接口··········································································19 3.5.2 开关量输出接口··········································································20 3.5.3 脉冲量输入接口··········································································21 3.5.4 模拟输入接口··············································································24 3.5.5 编码器信号输出接口 ··································································26 3.5.6 编码器 Z 信号集电极开路输出接口 ··········································27 3.5.7 伺服电机光电编码器输入接口 ··················································28 3.6 驱动器内部原理框图 ··········································································28
第 4 章 参数 ········································································································29 4.1 参数一览表···························································································29 4.2 参数内容·······························································································31 4.3 适配电机代码表 ···················································································39
第 2 章 安装与接线 ······························································································3 2.1 安装与接线·····························································································3 2.2 安装方法·································································································4 2.3 标准连接·································································································5 2.3.1 位置控制 ·······················································································5 2.3.2 速度控制 ·······················································································6 2.4 配线规格·································································································9 2.5 配线方法·································································································9 2.6 注意事项·································································································9
第 6 章 显示与键盘操作·····················································································44 6.1 第 l 层····································································································44
注意：以上注意事项敬请仔细阅读
目录
第 1 章 规格 ··········································································································1 1.1 伺服驱动器规格 ·····················································································1 1.2 伺服驱动器尺寸 ·····················································································2
许在开启电源的情况下，改变接线。 ——禁止暴露在水分、腐蚀性气体、可燃性气体等物质中使用本产品。 ——电机绕组对外壳的绝缘电阻应大于 10MΩ。 ——使用前应仔细阅读本说明书和有关电机的说明书。 ——本说明书连接图中电机侧信号引脚号以华大电机为例，不同厂家引脚号可能
不同。 ——因交流伺服电机有关Baidu Nhomakorabea四极电机(即二对极电机)与八极电机(即四对极电机)
第 5 章 报警与保护功能·····················································································41 5.1 报警一览表 ···························································································41 5.2 报警原因与处理方法 ···········································································42
注意事项
——驱动器端子排 R、S、T 动力电源为单相交流 220V（接 R、S、T 任意两端）或 三相交流 220V（接 R、S、T），推荐使用单相或三相隔离变压器。PE 为接地 端子。
——r、t 为驱动器控制电路电源，接单相交流 220V。 ——驱动器不能直接接交流 380V，否则会造成驱动器损坏。 ——驱动器端子排 U、V、W、PE 端子必须与电机的 U、V、W、PE 一一对应连接。 ——电机后部装有精密编码器，安装时严禁敲击电机。 ——电机后部的精密编码器已调整零点，用户不允许自行拆卸反馈元件。 ——为避免水、油等流入电机内，安装电机时尽可能请将电缆插头朝下。 ——断电后，驱动器内部仍有残余高压，因此 5 分钟内不得接触强电端子；不允
第 7 章 运 行 ······································································································51 7.1 接地·······································································································51 7.2 工作时序·······························································································51 7.2.1 电源接通次序 ·············································································51 7.2.2 时序图 ·························································································52 7.3 机械制动使用·······················································································53 7.4 注意事项·······························································································54 7.5 试运行···································································································55 7.5.1 行前的检查 ················································································55 7.5.2 JOG 操作 ·····················································································56 7.5.3 手动试运行操作··········································································57 7.6 位置控制模式的简单接线运行····························································58 7.7 速度控制模式的简单接线运行····························································60 7.8 调整 ······································································································61 7.8.1 基本增益调整 ·············································································61 7.8.2 基本参数调整图··········································································62 7.9 相关知识·······························································································63 7.9.1 位置分辨率和电子齿轮的设置 ··················································63 7.9.2 位置控制时的跟随误差······························································63
6.2 第 2 层···································································································45 6.2.1 监视方式 ·····················································································45 6.2.2 参数设置 ·····················································································47 6.2.3 参数管理 ·····················································································47 6.2.4 速度试运行 ·················································································50 6.2.5 JOG 运行 ·····················································································50
第 3 章 接 口 ······································································································11 3.1 电源端子 TB·························································································11 3.2 控制信号输入／输出端子 CNl ····························································11 3.3 编码器信号输入端子 CN2···································································17 3.4 接口端子配置·······················································································18 3.5 输入／输出接口类型 ···········································································19 3.5.1 开关量输入接口··········································································19 3.5.2 开关量输出接口··········································································20 3.5.3 脉冲量输入接口··········································································21 3.5.4 模拟输入接口··············································································24 3.5.5 编码器信号输出接口 ··································································26 3.5.6 编码器 Z 信号集电极开路输出接口 ··········································27 3.5.7 伺服电机光电编码器输入接口 ··················································28 3.6 驱动器内部原理框图 ··········································································28
第 4 章 参数 ········································································································29 4.1 参数一览表···························································································29 4.2 参数内容·······························································································31 4.3 适配电机代码表 ···················································································39
第 2 章 安装与接线 ······························································································3 2.1 安装与接线·····························································································3 2.2 安装方法·································································································4 2.3 标准连接·································································································5 2.3.1 位置控制 ·······················································································5 2.3.2 速度控制 ·······················································································6 2.4 配线规格·································································································9 2.5 配线方法·································································································9 2.6 注意事项·································································································9
第 6 章 显示与键盘操作·····················································································44 6.1 第 l 层····································································································44