中文力士乐03系列DKC伺服驱动器参数手册

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中文力士乐03系列DKC伺服驱动器参数手册

前言本说明书由779K于2010年11月15日用谷歌翻译系统完成翻译，对于翻译之准确不做保证，仅供各位同行在不急需时参考。

在本说明书的后半部分，附有英文原版说明书，如遇到不能理解之词汇，读者可以再次翻译更正。

翻译此说明书耗时30多小时，时间匆促，书中错误部分希望各位同仁继续更正发布，因为目前参数中文说明书网上基本没有。

779K于2010年11月15日22时30分德国力士乐伺服驱动器参数说明书ECODRIVE03设备一般自动化本机具有串行实时通信系统，模拟和并行接口。

违反这些规定将要求赔偿。

出版 INDRAMAT有限公司· Bgm.，博士，纳贝尔- STR基因。

2 ·的D – 97816加尔各答电话09352/40-0 ·发送689421 ·传真09352/40-4885部完（OS/TH）注意：本文件印在无氯漂白纸。

总结文件 - 概述内容1一般资料1-1使用本手册............................................... ................................ 1-1定义................................................. ............................................ 1-22月2日至1日标准参数S - 0 - 0001，NC的周期时间（TNcyc )...................................... ................. 2-1S - 0 - 0002，SERCOS的周期时间（Tscyc )...................................... ..................................... 2-1S - 0 - 0003，最小的AT发送起始时间（T1min）....................... 2-1S - 0 - 0004，发送/接收转换时间（TATMT）.................................... ................................ 2-1S - 0 - 0005，最小反馈采集时间（T4min )..................................... ............................ 2-2S - 0 - 0006，在传输开始时间（T1）..................................... ......................................... 2-2S - 0 - 0007，反馈收购启动时间（甲状腺素）..................................... .................................. 2-2S - 0 - 0008，命令的有效时间（T3）的...................................... ................................................. 2-3S - 0 - 0009，开始处理主数据电报...................................... ........................... 2-3S - 0 - 0010，长度主数据电报....................................... ............................................ 2-3S - 0 - 0011，1级诊断......................................... .................................................. ........... 2-3S - 0 - 0012，第2类诊断......................................... .................................................. ........... 2-4S - 0 - 0013，3级诊断......................................... .................................................. ........... 2-5S - 0 - 0014，接口状态.......................................... .................................................. ................. 2-6S - 0 - 0015电类型参数......................................... .................................................. .. 2-7S - 0 - 0016，自定义放大器电报配置清单....................................... ......................... 2-8S - 0 - 0017，国际化域名列表，所有业务数据列表..................................... ..................... .. 2-8S - 0 - 0018，国际化域名列表，对运行数据的CP2名单.................................... ............................... 2-8 S - 0 - 0019，国际化域名列表，为CP3运行数据清单.................................... ................................... 2-8 S - 0 - 0021，国际化域名列表，为商业无效运算数据列表。

(EcoDrive)DKC伺服驱动器故障排除手册

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力士乐ＥｃｏＤｒｉｖｅ驱动器故障排除手册
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力士乐ＥｃｏＤｒｉｖｅ驱动器故障排除手册
1 诊断信息说明 ............................................................................1–1
2 诊断信息 F 和诊断信息 E 的说明............................................2–1
错误诊断信息 F .................................................................................................2–1
F207 切换至未初始化运行模式...............................................................................2–2 F208 UL 电机类型已变 ............................................................................................2–2 F209 PL 负载参数默认值 .........................................................................................2–3 F218 放大器过热关机...............................................................................................2–3 F219 电机过热关机...................................................................................................2–3 F221 电机温度监视缺陷...........................................................................................2–4 F226 电源部分欠电压...............................................................................................2–4 F228 过大偏差 ..........................................................................................................2–5 F229 编码器故障：象限错误...................................................................................2–5 F233 外部电源错误...................................................................................................2–5 F236 位置反馈差过大...............................................................................................2–6 F237 位置指令差过大...............................................................................................2–7 F242 编码器故障：信号过小...................................................................................2–7 F245 外部编码器故障：象限错误...........................................................................2–8 F248 蓄电池电压过低...............................................................................................2–8 F249 主驱动器编码器故障：信号太小...................................................................2–9 F252 主驱动编码器故障：象限错误.......................................................................2–9 F253 增量编码调制器：脉冲频率太高...................................................................2–9 F254 增量编码器，硬件故障.................................................................................2–10 F255 外部电源 DAE 02 错误 ...........................................................................ห้องสมุดไป่ตู้.....2–10 F267 内部硬件同步错误.........................................................................................2–10 F268 制动器错误.....................................................................................................2–10 F270 回零开关电源错误......................................................................................... 2–11 F271 移动限位开关电源错误................................................................................. 2–11 F272 探头输入电源错误.........................................................................................2–12 F273 急停开关电源错误.........................................................................................2–12 F276 绝对编码器超出允许窗口.............................................................................2–12 F280 与地短路.........................................................................................................2–13 F316 电源软启动故障.............................................................................................2–13 F318 电源过热 ........................................................................................................2–13 F320 旁路器过载.....................................................................................................2–13 F360 电源过流 ........................................................................................................2–14 F369 电源的 24V、15V、5V 电压故障 ................................................................2–14 F380 电源对地短路.................................................................................................2–14 F381 主回路故障.....................................................................................................2–14

博世力士乐 ECO DRIVE 03 伺服驱动器

71 907 EN/01-10ECODRIVE03Electric Drives and Controls2ECODRIVE03ECODRIVE03 is a particularly cost-effectiveand universal automation system. It is verysuitable for virtually all areas of automationengineering in which linear or rotary move-ments up to 24 kW have to be controlled.Use the advantages of ECODRIVE03 andsafeguard your future by automating moreeconomically, saving on system componentsand simplifying installation and commission-ing.Typical applications are:•handling and assembly systems•packaging and food processing machines•printing and paper processing machines•machine toolscontrol.•••••••The motors– Suitable for any mechanicalsystemThis system is completed by the wide rangeof synchronous and asynchronous motorsfor rotary and linear feed movements, aswell as for main spindle applications:•For standard applications up to 72 Nmwith synchronous motors•For demanding requirements up to240 Nm with synchronous motors•For main spindle applications withasynchronous motors up to 24 kW•Asynchronous frameless motors up to24 kW•Linear synchronous and asynchronousmotors up to 22.000 N.34ECODRIVE03All features are standardAbsolute or incrementalposition measurementDifferent motor encoder systems permit ab-solute or incremental position measurement.All conventional encoder types can be usedas separate position encoders via the secondencoder input as required.Compact drive electronicsThe high level of integration of the drive elec-tronics enables you to use 300 mm standardcontrol cabinets for compact machine designs.Comprehensive diagnosticsTwo-digit diagnostics display on the unit andcomprehensive plain language displays of alloperating states at the control terminal or PCterminal support rapid location and elimina-tion of system malfunctions.Unit is rapidly replaced forservicingAll specific drive data are immediately avai-lable during servicing simply by plugging theprogramming module onto the spare unit,and your production can continue.Error response built into driveDuring commissioning you can set the res-ponse of the ECODRIVE03 drive in the emer-gency stop mode.is activated.EMC designdrive systemintelligent drives.Cost-saving AC mains input forinternational useThe control units can be directly connectedto all established international 3 x 200 V to3 x 480 V AC supply systems without theneed for a transformer. A single-phaseAC input is also possible for reduced powerratings. Depending on the drive’s task, youcan choose between individual and groupinfeed.Individual infeedWhere single control units are operated,each unit has its own AC supply. The mainsvoltage can therefore be fed to each unitseparately.Group infeedIf you are operating several control unitstogether, you can also connect and discon-nect groups of drives via a common mainscontactor. Each control unit of the group isthus supplied with mains voltage simul-taneously and directly. As a result, the linkcircuit voltage of the connected units isbuilt up as quickly as possible and the driveare immediately ready for use.5Convenient and time-saving commissioningDuring commissioning the control units auto-matically read all relevant motor parameters via the motor encoder. The DRIVETOP graphics program guides you quickly and purpose-fully through all the individual commission-ing steps via the control terminal or PC ter-minal. Here all the drive’s current internal state variables are clearly displayed. You aresupported at each step by extensive help texts.6With the analogue interface you can operateECODRIVE03 with a conventional controllerin a particularly cost-effective way.Speed or torque settings are then input viathe +/- 10 volt analogue interface.Position measurement withoutadditional complexityThe control unit provides the controller withthe current rotor positions as position actualvalues. For indirect position measurementyou therefore eliminate separate positionencoders and encoder cables.Absolute or incrementalposition outputThe position values can be output in anabsolute or incremental form.Resolution for high accuracycan be set by parametersThe resolution of the position actual valuescan be set by parameters as a number ofencoder lines from 1 to 65 536.Drift-free drive shutdownThe motor can be stopped and held withoutdrift via a switching input when the controlis active, irrespective of the set point.•Speed control•7You can store up to 64 positioning blocks,each with its own speed, acceleration and rate-of-change limits, in the control unit. The positioning blocks are selected via parallel inputs. Feedrate override is possible.Rotary and linear feed motionDepending on the axis kinematics, all posi-tion, speed and acceleration data can be given rotary or linear weightings.Built-in stepping motor interfaceWith the stepping motor interface you can use the ECODRIVE03 as a stepping motor drive. The drive system then operates in the position control mode and basically simulates a stepping motor. The position setpoints are transmitted incrementally by pulses from the controller to the control unit. The increment can be set by parameters in a range from 1to 65 536 steps per motor revolution.••Speed control••8interfaceThe SERCOS interface is an internationallystandardized real-time communicationssystem which allows you to utilize all thefacilities and advantages of digital drivetechnology. The serial data transmissionbetween the controller and the drives takesplace over fibre-optic cables and is free ofinterference.Reduced installation outlayThe use of fibre-optic cables and the elimi-nation of position encoders and their cablesreduce your wiring outlay to a minimum.Secure data transmissionThe data transmission between controllerand ECODRIVE03 takes place via fibre-opticcables arranged in a ring. This provides youwith maximum possible interference immu-nity as well as high data rates.Flexible in combinationAll data, parameters and commands to beexchanged are standardized. This ensurestrouble-free interaction between digitaldrives and controllers from different manu-facturers. You therefore utilize all the advan-tages of the respective products.Comprehensive diagnosticsThe SERCOS interface offers extensive diag-nostic facilities and enables the parametersof the ECODRIVE03 to be input via controllerterminals or PC terminals. This reduces yourdown times and considerably shortens your commissioning time.•Position control•Speed control••9ECODRIVE03 with DKC03PROFIBUS is a standardized, serial field bus system for the fast transmission of I/O signals.The PROFIBUS interface enables ECODRIVE03to operate in four operating modes.Reduced wiring outlayThe ring structure reduces your wiring outlay to a minimum.Flexible production changes and comprehensive diagnosticsParameters and diagnostic data can be exchanged via the PROFIBUS interface,thereby enabling position data to be rapidly and easily adapted to changes in production processes.Absolute or relative positioning dataA PLC controller can specify absolute or relative target positions via the PROFIBUS interface.Cost-effective and simple positioning axesThanks to the built-in point-to-point posi-tioning control system with internal position control, positioning tasks are implemented very cost effectively and positioning control cards are not required in the PLC.•Position control •Speed control••10ECODRIVE03 with DKC04INTERBUS is a standardized, serial field bussystem for the fast transmission of I/O signals.The INTERBUS interface enables ECODRIVE03to operate in four operating modes.Reduced wiring outlayThe ring structure reduces your wiring outlayto a minimum.Flexible production changesand comprehensive diagnosticsParameters and diagnostic data can beexchanged via the INTERBUS interface,thereby enabling position data to be rapidlyand easily adapted to changes in productionprocesses.Absolute or relative positioningdataA PLC controller can specify absolute orrelative target positions via the INTERBUSinterface.Cost-effective and simplepositioning axesThanks to the built-in point-to-point posi-tioning control system with internal positioncontrol, positioning tasks are implementedvery cost effectively and positioning controlcards are not required in the PLC.•Position control•Speed control••ECODRIVE03 with DKC05CANopen is a standardized, serial field bus system for the fast transmission of I/O signals.The CANopen interface enables ECODRIVE03to operate in four operating modes.Reduced wiring outlayThe ring structure reduces your wiring outlay to a minimum.Flexible production changes and comprehensive diagnosticsParameters and diagnostic data can be exchanged via the CANopen interface,thereby enabling position data to be rapidly and easily adapted to changes in production processes.Absolute or relative positioning dataA PLC controller can specify absolute or relative target positions via the CANopen interface.Cost-effective and simple positioning axesThanks to the built-in point-to-point posi-tioning control system with internal position control, positioning tasks are implemented very cost effectively and positioning control cards are not required in the PLC.•Position control •Speed control••the applicationwell as for main spindle applications.Synchronous motors for stringent requirementsing quality and machining speed. Air-cooled and liquid-cooled variants are available for extreme load conditions. The motorsbe supplied with multiturn absolute encoders, holding brake orkeyway as required.Synchronous motors for standard applicationsMKD motors are a particularly cost-effective solution for all gene-ral automation engineering applications up to 72 Nm. Air-cooled versions are available for extreme loading conditions. The motors turn encoder for relative position detection. The motors can also beas required.Synchronous motors for areas subject to explosion hazardT4 temperature range for use in paint plants or in the chemicalto 48 Nm. The motors are fitted with a single-turn encoder as standard for relative position detection. They can also be supplied with multiturn absolute encoders, holding brake or key-way asrequired.PAINTING PLANT (Picture, top left)The modular and compact construction of the control units minimizes the size of control cabinets in painting plants in the automotive industry. The use of the SERCOS interface and fibre-optic cables also considerably reduces the amount of cabling. (Dürr Systems GmbH)PACKAGING MACHINE (Picture, top centre)Thermoforming, filling and packaging machine line for the foodstuffs industry.Synchronized single drives replace mechanical transmission elements and maximize the number of cycles.(GEA FINNAH)HANDLING (Picture, right)Gantry loader with ECODRIVE forhandling letter containers in a German Post Office sorting centre. The MKD motors are fitted with integral worm drive. (DEMAG)GLASS PROCESSING (Picture, bottom left)5-axis gantry-type glass processing plant for removing coatings and cutting glass panes. ECODRIVE03 with SERCOSinterface permit tool path feedrates of 180 m/min with an accuracy of 0.02 mm.(HEGLA)WOODWORKING(Picture, bottom centre)Woodworking machine with 56 main and auxiliary axes for flexible and accurate complete machining of furniture parts.The compact design of the control units enables the drive electronics to be arranged in compact control cabinets -thus saving space. (WEEKE)ECODRIVE03Versatile and universal。

ECODRIVE03智能数字伺服系统解读

ECODRIVE03智能数字伺服系统DKC**.3系列驱动器基本功能
• 二个通道模拟量输入(模拟量指令值能设定为任何值)。 • 二个通道模拟量输出能模拟实际速度，力矩和指令等值。 • 实际位置值能以增量值或绝对值型式输出。 • 行程极限开关输入接口用作限制机械极限。 • 可编程轴的极限值用作限制行程范围。 • 一个紧急停止输入用作在紧急情况下关闭驱动。 • 齿轮比率和进给常量的机械要素设定在驱动中。 • 可以使用绝对值和增量值测量系统。 • 在调整操作期间，轴可以用JOG功能移动。 • 驱动状态能通过状态输出或访问参数得到。
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器连接分布
DC总线动态制动控制编码器仿真(增量和绝对SSI) I/O 扩展
2 个模拟量输入(12位) 2 个模拟量输出(8位) 故障清除输入警告输出驱动错误输出 2 个探头输入 2 个极限开关回参考点开关 RS232 / RS485接口固化软件模块电缆盖子 DC 总线连接主电源连接接地连接电机温度监控，制动控制和制动电源输入电机连接带诊断显示，复位键和地址选择的固化软件和参数模块
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器接口
• • • • • • •
DKC11.3 DKC01.3 DKC02.3 DKC03.3 DKC04.3 DKC05.3 DKC06.3
模拟量接口平行接口 SERCOS 接口 Profibus-DP 接口 Interbus-s 接口 Can-Open 接口 Device-Net 接口
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器接口操作 • SERCOS接口操作－JOG方式。－力矩/功率控制。－速度控制。－定位控制。－驱动器内部插补。－相对驱动器内部插补。－定位设定方式(带有速度，加速度和变加速度的定位设定多达65个和多种方式)，带速度倍率修调功能。－电子同步控制。

力士乐伺服参数设置(用于机床控制)

力士乐伺服参数设置摘要：文中简述了力世乐ECODRIVE03 伺服驱动系统通过并行接口进行位置块（组）操作模式（position block mode）的控制原理，并例举了与伺服驱动相关的故障及其解决方法。

数控机床控制中西门子、法那科伺服驱动系统应用较为普遍，而力世乐ECODRIVE03 伺服系统亦广泛地应用于机械制造、印刷造纸业、食品包装及集装总装等领域。

拥有FWA-ECODR3-SMT-02VS-MS 等系列硬件的ECODRIVE03 伺服系统通过串行、模拟、并行接口，及对系统标准参数（S 型参数）生产参数（P 型参数）的设置，可完成扭矩控制、速度控制、位置控制、插补控制、点动、位置块（组）及步进电机等模式的操作。

且系统带有测量、驱动、暂停、模拟输入/输出、数字输入/输出等多种基本功能并拥有完备的诊断功能。

下面介绍力世乐伺服系统的位置块（组）操作模式的控制原理。

1 位置块（组）操作模式的控制原理1.1 概述位置块（组）操作模式的控制原理位置块（组）操作模式是伺服系统以设定的速度、加速度等参数驱动电机运行到已在程序中预设的目标值的位置控制。

系统根据所处理的不同工艺过程（加工区域）最多可以设置64 个位置块（组）。

应用位置块（组）操作模式时，首先要对操作首要模式参数S-0-0032 进行设置，如设置为0000 0000 0011 х011 时，是通过编码器1 接口进行位置控制。

其中第3 位，bit3=0时代表位移滞后控制，bit3=1 时为无滞后控制；同时要将第二操作模式1 设置为点动模式，即设置参数S-0-0033 为1100 0000 0001 1011。

系统中与之相关的参数为：P-0-4006：加工块的目标位置值P-0-4007：加工块的速度值P-0-4008：加工块的加速度值P-0-4009：加工块的加加速度极值。

当设定为“0”时，极限值不起作用。

无论是绝对值还是相对值控制方式，P-0-4006、P-0-4007、P-0-4008、P-0-4009都有效，且每个参数都可最多设置为64 个数据，分别对应于0-63 数据块（组）的各个值。

ECODRIVE智能数字伺服系统精讲

ECODRIVE03智能数字伺服系统DKC**.3系列驱动器应用配ELC接口的单轴数控系统－单轴数控系统，用于数控定位/速度控制。－低成本。－特别的运动方式和运动指令。－内含可编程PLC控制。－运动指令和逻辑指令混合编程。－可配BTV04/05和BTC06操作显示器。－多种I/O接口 16点输入/12点输出平行接口， Interbus接口， Profibus接口， Device Net接口。
编码器 1 编码器2 控制电源244V DC 驱动器使能信号驱动器保持信号 bb－准备好触点源自电缆盖子指令通讯接口模块
按EMC设计的主电源和动力动力夹持
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器应用
外部PLC作上位机的定位控制－单轴定位/速度控制。－低成本。－PLC不再需要位控模块。－带/不带外部位置编码器。－可用外配PLC作控制和显示。－通过RS232/RS485接口实时控制。
ECODRIVE03智能数字伺服系统
• • • • • •
带定位的单轴系统自带电源的独立模块可与所有电机系列配套多种接口适配开放的参数读写适合全世界电源
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器
• 为解决单轴或多轴驱动控制任务的高水平的控制系统，用来实现的多种驱动任务。 • 可选用四种自带电源的驱动器(16A，40A,100A和200A)。 • 供电电压允许单相 220V，或三相 220V－480V。 • 驱动功率－16A驱动器的驱动功率可以达2kw。－40A驱动器的驱动功率可以达4kw。－100A驱动器的驱动功率可以达10kw。－200A驱动器的驱动功率可以达22kw。
ECODRIVE03智能数字伺服系统DKC**.3系列驱动器接口

博世力士乐电子传动与控制（深圳） CVF-G3 P3 系列变频器说明书

前言感谢您选用博世力士乐电子传动与控制（深圳）有限公司的变频调速器（以下简称变频器）！CVF - G3系列、CVF - P3系列变频器是自主开发、生产的高性能变频器，该产品采用高品质的元器件、优质材料，并融合高新微电脑控制技术制造而成。

本使用手册提供如下产品系列的操作指南：(1) CVF-G3系列通用型变频器(2) CVF-P3系列风机、水泵专用型变频器本手册阐述了用户安装配线、参数设定、故障诊断和故障排除、日常维护等相关事宜。

为确保能正确操作此系列变频器，发挥其优越性能，请在装机之前，详细阅读本使用手册，并请妥善保存，或将本手册交于该机器的使用者。

如对于本变频器的使用存在疑问或有特殊要求，请随时联络本公司的各地办事处或经销商，也可与本公司总部售后服务中心联系，我们将竭诚为您服务。

我们一直致力于产品的不断完善，故本系列变频器的相应资料（操作手册、宣传资料等）如有变动，恕不另行通知。

欢迎选用本公司其它系列变频器产品：CVF-ZS系列注塑机专用型变频器CVF-ZC系列注塑一体化柜机CVF-LS1系列拉丝机专用型变频器CVF-LY1系列络筒机/印花机专用型变频器CVF-S1 系列单相小功率变频器CVF-SMP系列简易型单相小-1-功率变频器CVF-MN1 系列迷你型单相小功率变频器CVF-V1 系列高性能矢量型变频器开箱时，请认真确认以下内容：1.产品是否有破损，零部件是否有损坏、脱落现象，主体是否有碰伤现象；2.本机铭牌所标注的额定值是否与您的订货要求一致；3.本公司在产品的制造及包装出厂方面，质量保证体系严格，但若发现有某种检验遗漏，请速与本公司或供应商联系，我们将在第一时间为您解决。

变频器型号说明：-2-目录1.注意事项．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．11.1 安全标识定义．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．11.2 安装注意事项．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．11.3 使用注意事项．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．21.4 报废注意事项．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．42.安装与配线．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．52.1 产品技术指标及规格．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．52.2 系列型号说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．72.3 安装环境要求．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．82.4 变频器的安装尺寸．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．82.5 操作面板尺寸．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．102.6 盖板的拆卸与安装．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．112.7 操作面板的拆卸与安装．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．112.8 安装方向与空间．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．122.9 变频器的配线．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．132.10 回路端子台的配线．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．212.11 JP跳线说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．282.12 接线说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．293.操作与运行．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．353.1 面板操作．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．353.2 名词术语说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．363.3 面板功能说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．393.4 键盘操作方法．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．403.5 变频器的运行．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．444.功能参数一览表．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．474.1 基本运行参数（b参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．474.2 中级运行参数（L参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．48- 3 -4.3 高级运行参数（H参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．514.4 状态监控参数一览表．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．554.5 保护功能及对策．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．574.6 故障记录查询．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．585.功能详细说明．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．605.1 基本运行参数（b参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．605.2 中级运行参数（L参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．685.3 高级运行参数（H参数）．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．836.维护与保养．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．976.1 日常检查与保养．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．976.2 定期维护．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．986.3 易损部件的检查与更换．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．996.4 存放及保修．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．99 7．使用范例．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1017.1 面板控制起、停, 面板电位器设置频率．．．．．．．．．．．．．．．．．．．．．1017.2 三线制控制模式．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1027.3 外部控制方式、外部电压设定频率．．．．．．．．．．．．．．．．．．．．．．．．．1037.4 多段速运行、外部控制方式．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1047.5 可编程多段速控制．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1057.6 多台变频器的联动运行(群组控制) ．．．．．．．．．．．．．．．．．．．．．．．1067.7 用变频器构成闭环控制系统．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1107.8 用上位机（PC）控制多台变频器．．．．．．．．．．．．．．．．．．．．．．．．．．．111 8．选件．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1138.1 远控线缆和远控适配器．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1138.2 供水附件．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．1138.3 制动组件．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．113- 4 -附录1：RS485通讯协议．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．115附录2：供水附件的应用．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．126- 5 -- 6 -第一章博世力士乐电子传动与控制（深圳）有限公司注意事项为了确保您的人身、设备及财产安全，在使用变频器之前，请务必仔细阅读本章内容，并在以后的搬运、安装、运行、调试与检修过程中遵照执行。

ECO DRIVE DKC01.3伺服说明书

Editing sequence
Firmware Status
DOK-ECODRV-ASE-04VRS**-FVN1-DE-P
Release date
01.97
Comments
02VRS - 04NDRAMAT GmbH, 1997 Copying this document, and giving it to others and the use or communication of the contents thereof without express authority are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design. (DIN 34-1)
mannesmann Rexroth
engineering
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Version Notes: ASE 04VRS
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P
275272
Indramat
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Title Type of documentation Document code Internal file reference
ECODRIVE DKC01.1/DKC11.1 Drive Controllers Version Notes FWA-ECODRV-ASE-04VRS-MS DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • Mappe 56-04V-EN / Register 10 • Drawing number 209-0073-4334-01 • Based on: 04V10

力士乐REXROTH伺服参数设置

力士乐REXROTH伺服参数设置文中简述了力世乐ECODRIVE03 伺服驱动系统通过并行接口进行位置块（组）操作模式（position block mode）的控制原理，并例举了与伺服驱动相关的故障及其解决方法。

且系统带有测量、驱动、暂停、模拟输入/输出、数字输入/输出等多种基本功能并拥有完备的诊断功能。

下面介绍力世乐伺服系统的位置块（组）操作模式的控制原理。

系统根据所处理的不同工艺过程（加工区域）最多可以设置64 个位置块（组）。

应用位置块（组）操作模式时，首先要对操作首要模式参数S-0-0032 进行设置，如设置为0000 0000 0011 х011 时，是通过编码器1 接口进行位置控制。

其中第3 位，bit3=0时代表位移滞后控制，bit3=1 时为无滞后控制；同时要将第二操作模式1 设置为点动模式，即设置参数S-0-0033 为1100 0000 0001 1011。

系统中与之相关的参数为：P-0-4006：加工块的目标位置值P-0-4007：加工块的速度值P-0-4008：加工块的加速度值P-0-4009：加工块的加加速度极值。

当设定为“0"时，极限值不起作用。

力士乐驱动器使用说明书

力士乐驱动器参数调试说明本说明书针对非正弦用力士乐驱动器。

主要讲述驱动软件的使用、参数配置、PID调节等。

一、软件使用1.MLC04v16软件的安装安装文件夹有CD1、CD2、CD3三个文件夹，打开CD1文件夹，⏹双击setup.exe进行安装，如图所示选择英文后，点Next⏹按如图所示选择，点Next。

⏹点击Next⏹点击Next⏹选择接受，后点击Next⏹输入名称，点击Next⏹选择安装目录，然后点击Next⏹点Install⏹安装进度如下：真个过程可能要10多分钟，看电脑性能。

⏹完成窗口如下：⏹完成后需要重启。

点”是”自动重启，点”否”则不重启。

2.软件操作⏹打开软件●双击桌面快捷方式，如下图所示。

●通过点击开始菜单->程序->Rexroth->IndraWorks7.14.166.0->Engineering.来打开。

⏹软件使用●工程的使用如下图点击Create an empty project为建立一个新工程。

点击Open project打开一个现有工程。

点击Scan for devices扫描串口总线上的设备点击Restore project把保存的已压缩工程，解压缩。

点击下面快捷按钮，第一个为新建工程，第二个位打开现有工程。

点击File下拉菜单后，New:新建工程；Open：打开工程。

与伺服启动器联机打开工程后变为点黄色图标进入虚拟模式。

点蓝色图标连接实际驱动器。

如果端口配置正常则直接联机，否则会弹出如下窗口。

点击Scan for Device后弹出如下窗口点Next后自动寻找设备。

未找到设备则弹出下面创库示波器功能点Diagnostics下拉菜单，点击Oscilloscope下图所示为示波器窗口。

采集时间配置：点击右上角的Configure后弹出，时间配置。

其中Memory depth，采集的点数Time period:每10ms采集一个点Recording time:前面两项相乘得出的总采样时间。

力士乐驱动器使用说明教学文案

力士乐驱动器参数调试说明本说明书针对非正弦用力士乐驱动器。

主要讲述驱动软件的使用、参数配置、PID调节等。

一、软件使用1.MLC04v16软件的安装安装文件夹内有CD1、CD2、CD3三个文件夹，打开CD1文件夹，⏹双击setup.exe进行安装，如图所示选择英文后，点Next⏹按如图所示选择，点Next。

⏹完成窗口如下：⏹完成后需要重启。

点”是”自动重启，点”否”则不重启。

2.软件操作⏹打开软件●双击桌面快捷方式，如下图所示。

●通过点击开始菜单->程序->Rexroth->IndraWorks7.14.166.0->Engineering.来打开。

⏹软件使用●工程的使用如下图点击Create an empty project为建立一个新工程。

点击Open project打开一个现有工程。

点击Scan for devices扫描串口总线上的设备点击Restore project把保存的已压缩工程，解压缩。

点击下面快捷按钮，第一个为新建工程，第二个位打开现有工程。

点击File下拉菜单后，New:新建工程；Open：打开工程。

与伺服启动器联机打开工程后变为点黄色图标进入虚拟模式。

点蓝色图标连接实际驱动器。

如果端口配置正常则直接联机，否则会弹出如下窗口。

点击Scan for Device后弹出如下窗口点Next后自动寻找设备。

未找到设备则弹出下面创库示波器功能点Diagnostics下拉菜单，点击Oscilloscope下图所示为示波器窗口。

采集时间配置：点击右上角的Configure后弹出，时间配置。

其中Memory depth，采集的点数Time period:每10ms采集一个点Recording time:前面两项相乘得出的总采样时间。

力士乐驱动器使用说明

.力士乐驱动器参数调试说明本说明书针对非正弦用力士乐驱动器。

主要讲述驱动软件的使用、参数配置、PID调节等。

⏹点击Next.⏹点击Next⏹选择接受，后点击Next⏹输入名称，点击Next⏹选择安装目录，然后点击Next⏹点Install⏹安装进度如下：真个过程可能要10多分钟，看电脑性能。

⏹完成窗口如下：⏹完成后需要重启。

点”是”自动重启，点”否”则不重启。

2.软件操作⏹打开软件●双击桌面快捷方式，如下图所示。

●通过点击开始菜单->程序->Rexroth->IndraWorks7.14.166.0->Engineering.来打开。

⏹软件使用●工程的使用如下图点击Create an empty project为建立一个新工程。

点击Open project打开一个现有工程。

点击Scan for devices扫描串口总线上的设备点击Restore project把保存的已压缩工程，解压缩。

点击下面快捷按钮，第一个为新建工程，第二个位打开现有工程。

点击File下拉菜单后，New:新建工程；Open：打开工程。

与伺服启动器联机打开工程后变为点黄色图标进入虚拟模式。

点蓝色图标连接实际驱动器。

如果端口配置正常则直接联机，否则会弹出如下窗口。

点击Scan for Device后弹出如下窗口点Next后自动寻找设备。

未找到设备则弹出下面创库示波器功能点Diagnostics下拉菜单，点击Oscilloscope下图所示为示波器窗口。

采集时间配置：点击右上角的Configure后弹出，时间配置。

其中Memory depth，采集的点数Time period:每10ms采集一个点Recording time:前面两项相乘得出的总采样时间。

力士乐伺服参数设置

力士乐伺服参数设置2010年12月24日星期五上午08:33摘要：文中简述了力世乐ECODRIVE03 伺服驱动系统通过并行接口进行位置块（组）操作模式（position block mode）的控制原理，并例举了与伺服驱动相关的故障及其解决方法。

且系统带有测量、驱动、暂停、模拟输入/输出、数字输入/输出等多种基本功能并拥有完备的诊断功能。

下面介绍力世乐伺服系统的位置块（组）操作模式的控制原理。

系统根据所处理的不同工艺过程（加工区域）最多可以设置64 个位置块（组）。

应用位置块（组）操作模式时，首先要对操作首要模式参数S-0-0032 进行设置，如设置为0000 0000 0011 х011 时，是通过编码器1 接口进行位置控制。

其中第3 位，bit3=0时代表位移滞后控制，bit3=1 时为无滞后控制；同时要将第二操作模式1 设置为点动模式，即设置参数S-0-0033 为1100 0000 0001 1011。

系统中与之相关的参数为：P-0-4006：加工块的目标位置值P-0-4007：加工块的速度值P-0-4008：加工块的加速度值P-0-4009：加工块的加加速度极值。

当设定为“0”时，极限值不起作用。

Rexroth Ecodrive03系列DKC驱动器故障排查手册

1诊断信息说明............................................................................1–1诊断信息说明的概述.........................................................................................1–1诊断信息的类型...........................................................................................................1–1诊断信息的结构...........................................................................................................1–1H1模块显示器.............................................................................................................1–2 2重要使用说明............................................................................2–1正确使用.............................................................................................................2–1概述...............................................................................................................................2–1使用范围.......................................................................................................................2–2 不正确使用.........................................................................................................2–23驱动器和控制系统的安全说明................................................3–1引言.....................................................................................................................3–1警告信号说明.....................................................................................................3–1使用不当可能造成的危险.................................................................................3–2一般信息.............................................................................................................3–3防触电保护.........................................................................................................3–5使用低压保护，防止触电（PELV）...............................................................3–6预防危险的移动.................................................................................................3–7在运行和安装过程中对磁场和电磁场的防护.................................................3–9对接触发热部件的防护...................................................................................3–10搬运和安装过程中的防护...............................................................................3–10蓄电池的安全...................................................................................................3–11防增压系统保护...............................................................................................3–114诊断信息F和诊断信息E的说明............................................4–1错误诊断信息F.................................................................................................4–1 F205 凸轮轴故障.......................................................................................................4–2F207 切换至未初始化运行模式...............................................................................4–2F208 UL电机类型已变............................................................................................4–3F209 PL负载参数默认值.........................................................................................4–3F211 DISC – Error no.1（#1错误）........................................................................4–4F212 DISC – Error no.2（#2错误）........................................................................4–4F212 DISC – Error no.3（#3错误）........................................................................4–4F212 DISC – Error no.4（#4错误）........................................................................4–4F217 未接冷却风扇...................................................................................................4–4F218 放大器过热关机...............................................................................................4–4F219 电机过热关机...................................................................................................4–5F220 制动电阻器过载关机.......................................................................................4–5F221 电机温度监视缺陷...........................................................................................4–6F223 停车轴线初始化过程中的错误.......................................................................4–6F224 超过最大制动时间...........................................................................................4–7F226 电源部分欠电压...............................................................................................4–7 F228 过大偏差..........................................................................................................4–7 F229 编码器1故障：象限错误...............................................................................4–8 F230 超过编码器1最大信号频率...........................................................................4–8 F236 位置反馈差过大...............................................................................................4–9 F237 位置指令差过大.............................................................................................4–10 F238 实际速度值差过大.........................................................................................4–10 F242 编码器2故障：信号幅度错误.....................................................................4–10 F245 编码器2故障：象限错误.............................................................................4–11 F246 超过编码器2最大信号频率.........................................................................4–12 F248 蓄电池电压过低.............................................................................................4–12 F249 主驱动器编码器故障：信号太小.................................................................4–13 F250 目标位置预定内存溢出.................................................................................4–13 F252 主驱动器编码器故障：象限错误.................................................................4–14 F253 增量编码调制器：脉冲频率太高.................................................................4–14 F260 指令电流极限关闭.........................................................................................4–14 F262 在输出状态下出现外部短路.........................................................................4–15 F267 内部硬件同步错误.........................................................................................4–15 F269 电机制动器释放过程中错误.........................................................................4–15 F276 绝对编码器超出允许窗口.............................................................................4–16 F277 电流测量补偿错误.........................................................................................4–16 F281 主回路故障.....................................................................................................4–17 F288 EMD模块固件升级过程中出现错误...........................................................4–17 F291 EMD模块超时...............................................................................................4–17 F292 EMD模块过热...............................................................................................4–18 F294 Ecox客户端超时...........................................................................................4–18 F296 EcoX客户端数量不正确...............................................................................4–19 F297 EcoX客户端错误..........................................................................................4–19 F386 电源模块没有就绪信号.................................................................................4–19 F401 双MST故障关机..........................................................................................4–20 F402 双MDT故障关机..........................................................................................4–20 F403 通信阶段关机.................................................................................................4–21 F404 阶段前进过程中出现错误.............................................................................4–21 F405 阶段后退过程中出现错误.............................................................................4–21 F406 无就绪信号阶段切换.....................................................................................4–21 F407 主通信初始化过程中的错误.........................................................................4–22 F411 双SST故障关机............................................................................................4–22 F434 紧急停机........................................................................................................4–23 F629 超过正行程极限.............................................................................................4–23 F630 超过负行程极限.............................................................................................4–24 F634 紧急停机........................................................................................................4–24 F643 探测出正行程极位开关.................................................................................4–25 F644 探测出负行程限位开关.................................................................................4–25 F811 不能确定换向偏置.........................................................................................4–26F812 在换向过程中移动越程.................................................................................4–26 F822 编码器1故障：信号幅度错误.....................................................................4–27 F843 编码器2故障：信号幅度错误.....................................................................4–28 F845 编码器2故障：象限错误.............................................................................4–28 F850 监视器协处理器.............................................................................................4–28 F860 功率级短时过电流.........................................................................................4–29 F870 +24伏直流错误.............................................................................................4–29 F873 电源驱动级故障.............................................................................................4–29 F878 速度环错误.....................................................................................................4–30 F880 经过优化的通讯偏置错误.............................................................................4–31 报警诊断信息E…...........................................................................................4–32 E211 DISC - #1报警...............................................................................................4–33 E212 DISC - #2报警...............................................................................................4–33 E212 DISC - #3报警...............................................................................................4–33 E212 DISC - #4报警...............................................................................................4–33 E217 冷却风扇转速大慢........................................................................................4–33 E221 报警电机温度监控有故障............................................................................4–33 E225 电机过载........................................................................................................4–34 E226 电流部分欠电流............................................................................................4–34 E247 插补速度=0....................................................................................................4–34 E248 插补加速度=0................................................................................................4–35 E249 定位速度> = S-0-0091.................................................................................4–35 E250 驱动器过热预警............................................................................................4–36 E251 电机过热预警................................................................................................4–36 E252 制动电阻器过载预警....................................................................................4–37 E253 目标位置超出行程范围................................................................................4–37 E254 不回零............................................................................................................4–38 E255 馈送率-超越S-0-108 = 0...............................................................................4–38 E256 转矩极限=0....................................................................................................4–39 E257 连接电流极限有效........................................................................................4–39 E261 连接电流极限预警........................................................................................4–39 E258 选定的处理块未被编程................................................................................4–39 E259 指令速度极限有效........................................................................................4–40 E260 指令电流极限有效........................................................................................4–40 E261 连接电流极限预警........................................................................................4–40 E263 速度指令值>极限S-0-0091..........................................................................4–41 E264 目标位置超过数字范围................................................................................4–41 E267 硬件同步有故障............................................................................................4–41 E269 制动器的制动转矩太低................................................................................4–42 E281 主回路故障....................................................................................................4–42 E288 EMD模块固件更新有效.............................................................................4–42 E289 等待EcoX服务器端扫描.............................................................................4–43 E291 EMD模块超时..............................................................................................4–43 E293 EMD模块欠电压........................................................................................4–44E296 EcoX客户端数量不正确..............................................................................4–44E386 电压模块无就绪信号..................................................................................4–44E408 MDT数据存储器A无效编址....................................................................4–45E409 AT数据存储器A无效编址........................................................................4–45E410 客户端未被扫描或地址为0.........................................................................4–45E411 双SST故障....................................................................................................4–45E825 功率级过电压................................................................................................4–46E826 电源部分欠电压............................................................................................4–46E829 超过正位置极限............................................................................................4–47E830 超过负位置极限............................................................................................4–47E831 在点动过程中达到位置极限........................................................................4–47E834 紧急停机........................................................................................................4–48E843 启用正限位开关............................................................................................4–48E844 启用负限位开关............................................................................................4–48E881 主回路故障....................................................................................................4–49E886 电源模块没有准备好....................................................................................4–49 5诊断信息B、C、D和诊断信息A的说明.............................5–1指令诊断信息B、C和D.................................................................................5–1 B100 指令释放电机制动器......................................................................................5–2B101 不启用指令......................................................................................................5–2B200 制动器检查指令..............................................................................................5–2B201 只在驱动器启用下进行制动器检查..............................................................5–2B202 在制动器嵌入过程中出现错误......................................................................5–2B203 制动器制动转矩太低......................................................................................5–3B300 后备工作内存程序指令..................................................................................5–3C100 通讯阶段3传输检查......................................................................................5–3C101 无效通信参数（S-0-0021）...........................................................................5–3C102 通信参数极限错误（S-0-0021）...................................................................5–4C104 MDT的配置IDN不可配置...........................................................................5–4C105 配置长度大于MDT最大长度.......................................................................5–4C106 AT的配置IDN不可配置...............................................................................5–5C107 配置长度大于AT最大长度...........................................................................5–5C108 时间间隙参数大于Sercos循环时间..............................................................5–5C109 MDT（S-0-0009）中的数据记录位置为偶数.............................................5–6C110 MDT（S-0-0010）长度为奇数.....................................................................5–6C111 ID9 + 记录长度-1 大于长度MDT（S-0-0010）.........................................5–6C112 TNcyc（S-0-0001）或TScyc（S-0-0002）错误.........................................5–6C113 TNcyc（S-0-0001）与TScyc（S-0-0002）的关系错误.............................5–7C114 T4 大于TScyc（S-0-0002）- T4min（S-0-0005）....................................5–7C115 T2数值太小...................................................................................................5–7C118 MDT配置顺序错误......................................................................................5–8C200 通讯阶段4传输检查....................................................................................5–8C201 无效参数（S）（->S-0-0022）......................................................................5–8C202 参数极限错误（->S-0-0022）......................................................................5–8 C203 参数计算错误（->S-0-0022）......................................................................5–9 C204 电机类型P-0-4014不正确...........................................................................5–9 C210 要求反馈2（-> S-0-0022）..........................................................................5–9 C211 无效反馈数据（->S-0-0022）....................................................................5–10 C212 无效放大器数据（->S-0-0022）................................................................5–10 C213 位置数据比例错误......................................................................................5–10 C214 速度数据比例错误......................................................................................5–11 C215 加速度数据比例错误..................................................................................5–12 C216 转矩/力数据比例错误.................................................................................5–12 C217 反馈1数据读取错误..................................................................................5–12 C218 反馈2数据读取错误..................................................................................5–13 C220 反馈1初始化错误......................................................................................5–13 C221 反馈2初始化错误......................................................................................5–14 C233 最大范围输入值太高..................................................................................5–14 C227 模块范围错误..............................................................................................5–15 C234 编码器不能正确组合..................................................................................5–15 C235 负载侧电机编码器只可用于感应电机......................................................5–15 C236 要求反馈1（P-0-0074）............................................................................5–15 C238 编码器2功能错误（->S-0-0022）............................................................5–16 C241 必须为二进制编码器分辨率......................................................................5–16 C242 一个参数的多重配置（->S-0-0022）........................................................5–16 C300 指令设定绝对测量......................................................................................5–17 C302 未安装绝对测量系统..................................................................................5–17 C400 切换至参数方式..........................................................................................5–17 C401 驱动器启动时，不允许切换......................................................................5–17 C402 只允许没有服务器端....................................................................................5–18 C500 复位1类诊断，错误复位............................................................................5–18 C600 驱动器控制的回零程序指令........................................................................5–18 C601 只在驱动器启用条件下才能够回零............................................................5–18 C602 距离回零开关-参考标记错误.....................................................................5–18 C604 绝对编码器不能回零..................................................................................5–19 C606 未探测出参考标记......................................................................................5–19 C700 基本负载........................................................................................................5–20 C702 默认参数不可用............................................................................................5–20 C703 默认参数无效................................................................................................5–20 C704 参数不可拷贝................................................................................................5–20 C800 调入默认参数..............................................................................................5–21 C801 参数默认值错误（-> S-0-0021）.................................................................5–21 C802 密码锁定........................................................................................................5–21 D300 指令调整换向................................................................................................5–21 D301 驱动器未做好换向指令准备......................................................................5–22 D302 电机转矩/力太小，无法运动.....................................................................5–22 D303 指令启动时驱动器处于控制状态..............................................................5–22D304 偏置计算错误..............................................................................................5–22 D305 驱动器启用被拒绝......................................................................................5–22 D306 系统断电......................................................................................................5–23 D307 驱动器不运行..............................................................................................5–23 D308 无法调整异步电机......................................................................................5–23 D309 进入阶段4...................................................................................................5–23 D310 输入主密码..................................................................................................5–23 D311 不能确定换向偏置......................................................................................5–23 D312 在换向过程中超过运动范围......................................................................5–24 D500 指令获取标志位置......................................................................................5–24 D501 所要求的增量编码器..................................................................................5–24 D600 取消参考点程序指令..................................................................................5–25 D700 坐标轴停止指令..........................................................................................5–25 D701 仅可在驱动器停止时使用的坐标轴停止指令..........................................5–25 D800 测量轮模式指令..........................................................................................5–25 D801 测量轮不能运行..........................................................................................5–25 D900 自动回路调整指令......................................................................................5–26 D901 启动要求驱动器启用..................................................................................5–26 D902 电机反馈数据无效......................................................................................5–26 D903 惯量检测出现故障.....................................................................................5–27 D904 增益调整出现故障.....................................................................................5–27 D905 位移范围无效，P-0-0166和 P-0-0167....................................................5–28 D906 位移范围超出.............................................................................................5–28 状态诊断信息A...............................................................................................5–29 A000 通讯阶段0...................................................................................................5–29 A001 通讯阶段1...................................................................................................5–29 A002 通讯阶段2...................................................................................................5–29 A003 通讯阶段3...................................................................................................5–30 A009 SERCOS接口的自动波特率检测..............................................................5–30 A010 驱动中断......................................................................................................5–31 A012 控制装置和电源装置运行准备就绪..........................................................5–31 A013 接通电源准备就绪......................................................................................5–31 A100 驱动器处于转矩控制模式下......................................................................5–31 A101 驱动器处于速度控制模式下......................................................................5–31 A102 使用编码器1的位置模式..........................................................................5–31 A103 使用编码器2的位置模式..........................................................................5–32 A104 位置模式，无滞后，编码器1...................................................................5–32 A105 位置模式，无滞后，反馈1.......................................................................5–32 A106 驱动器可控插补，编码器1.......................................................................5–32 A107 驱动器可控插补，编码器2.......................................................................5–33 A108 驱动器可控插补，无滞后，编码器1.......................................................5–33 A109 驱动器可控初步，无滞后，编码器2.......................................................5–33 A110 速度同步，虚拟主驱动器..........................................................................5–33 A111 速度同步，真实主驱动器..........................................................................5–34A112 阶段同步，编码器1，虚拟主驱动器.......................................................5–34 A113 阶段同步，编码器2，虚拟主驱动器.......................................................5–34 A114 阶段同步，编码器1，真实主驱动器.......................................................5–34 A116 阶段同步，无滞后，编码器1，虚拟主驱动器.......................................5–35 A117 阶段同步，无滞后，编码器2，虚拟主驱动器.......................................5–35 A118 阶段同步，无滞后，编码器1，真实主驱动器.......................................5–35 A128 凸轮轴，编码器1，虚拟主驱动器...........................................................5–35 A129 凸轮轴，编码器2，虚拟主驱动器...........................................................5–36 A130 凸轮轴，编码器1，真实主驱动器...........................................................5–36 A132 凸轮轴，无滞后，编码器1，虚拟主驱动器...........................................5–36 A133 凸轮轴，无滞后，编码器2，虚拟主驱动器...........................................5–37 A134 凸轮轴，无滞后，编码器1，真实主驱动器...........................................5–37 A150 驱动器可控定位，编码器1.......................................................................5–37 A151 驱动器可控定位，编码器1，无滞后.......................................................5–38 A152 驱动器可控定位，编码器2.......................................................................5–38 A153 驱动器可控定位，编码器2，无滞后.......................................................5–38 A154 带有编码器1，驱动器受控的位置模式...................................................5–39 A155 带有编码器1，无滞后，驱动器受控的位置模式...................................5–39 A156 带有编码器2，驱动器受控的位置模式...................................................5–39 A157 带有编码器2，无滞后，驱动器受控的位置模式...................................5–40 A206 数据处理块模式，编码器1.......................................................................5–40 A207 数据处理块模式，无滞后，编码器1.......................................................5–40 A208 正向点动模式..............................................................................................5–40 A210 数据处理块模式，编码器2.......................................................................5–40 A211 数据处理块模式，无滞后，编码器2.......................................................5–41 A218 负向点动模式..............................................................................................5–41 A400 自动的驱动器检查和调整..........................................................................5–41 A401 驱动器减速至静止状态..............................................................................5–41 A402 驱动器处于自动模式..................................................................................5–42 A800 不明运行模式..............................................................................................5–42 基本初始化和严重性系统错误之后的诊断信息...........................................5–43诊断信息显示：-0.....................................................................................................5–43 诊断信息显示：-1.....................................................................................................5–43 诊断信息显示：-2.....................................................................................................5–43 诊断信息显示：-3.....................................................................................................5–43 诊断信息显示：-5.....................................................................................................5–43 诊断信息显示：-6.....................................................................................................5–43 诊断信息显示··（两个圆点）............................................................................5–43 诊断信息显示：E1....................................................................................................5–43 诊断信息显示：E2....................................................................................................5–44 诊断信息显示：E3....................................................................................................5–44 诊断信息显示：E4....................................................................................................5–44 诊断信息显示：E5....................................................................................................5–44 运行状态信息...................................................................................................5–45。

力士乐驱动器调试指南

1.蓝色串口线为易损坏品，请拔下时先离线或者关闭软件2.软件启动双击桌面上的图标3.软件启动后界面如下如果没有出现左侧的PROJECT EXPLORE请按以下操作如有跳过在菜单VIEW下选择并单击PROJECT EXPLORE3．出现左侧的菜单后，点击图片中放大镜图标出现下图对话框，请按下图选择IndraDrive(Serial RS232)，如果IndraDrive(Serial RS232)未在右侧框内，请在左侧框内找到并选择，然后点击框中间的指向右侧的三角，添加好后即为上图的样子。

并点击NEXT4.上一步点击NEXT后出现下图对话框，下图左侧框为目前计算机上现有通讯端口，在其中选择当前与力士乐通讯所用端口并添加到右侧框内，添加方法同上步相同其他选项同上图。

通讯端口如果不知道具体是那个，就全部添加上。

点击NEXT5.如果扫描连接成功就会出现下图，如未找到请检查线连接是否正常，端口选择是否正确，6.单击图片中的小加号展开项目7.菜单键介绍上图由左至右作用依次为，驱动器离线，在线，模拟在线，搜索设备，空，空，空，空，空，空，驱动器转为参数模式，驱动器转为操作模式8.驱动器装态监控操作方法，右键单击图中菜单中的AXIS在弹出菜单中依次如图中选择即可出现的窗口数据从上到下依次为，当前位置，当前速度，当前加速度，当前电机负载忘记截图了。

9.驱动器参数备份，右键单击菜单中高亮部分，然后如图依次选择，并点击EXPORT，出现下图单击左上角的三个小点，出现下图在文件名中键入你想保存的文件名，在保存在中选择保存的路径。

选择后点击保存然后会回到上一个窗口，点击EXPORT会出现当这个窗口消失后，参数保存完成。

10.驱动器参数恢复（不建议使用）选择后在下图中找到你保存的文件，点击打开。

出现下图对话框点击IMPORT。

11.驱动器控制参数设定（建议不要修改）MASTER COMMUNICATION ADDRESS 驱动器通讯地址BAUDRATE 通讯波特率CYCLE TIME 循环时间LENGTH OF CYCLE REAL TIME CHANNEL 输入字字长LENGTH OF CYCLE COMMAND CHANNE 输出字字长P4078驱动器状态字，S0051位置反馈，S0040速度反馈P4077驱动器控制字,S0282位置命令，S0259速度命令12.轴类型，即转向的修改双击菜单中的SCALING/UNITS 右上的圈内从上到下依次为，转动轴(主轴)，直线轴（进给）右下的圈内改变YES,NO即可改变电机转向13.螺距，传动比，最大行程范围设定双击MECHANICAL GEAR ，右侧圈内从上到下依次为，最大行程，螺距，输出齿数，输入齿数14.操作模式改变双击OPERATING，点击下拉键，红色框内为欧三项目所用的操作模式，道依茨的DKM029也是这种方法，欧三的DK093以及道依茨项目的其他机床使用的都是高亮的POSITIONING BLOCK MODE LAGESS ENCODER 1使用第一种方法的各工位位置在PLC程序中修改，第二种方法的需要在右上角红框内的CONFIGURATION中修改，并在程序中找是否有路点，有的也需要修改。

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前言本说明书由779K于2010年11月15日用谷歌翻译系统完成翻译，对于翻译之准确不做保证，仅供各位同行在不急需时参考。

在本说明书的后半部分，附有英文原版说明书，如遇到不能理解之词汇，读者可以再次翻译更正。

翻译此说明书耗时30多小时，时间匆促，书中错误部分希望各位同仁继续更正发布，因为目前参数中文说明书网上基本没有。

779K于2010年11月15日22时30分德国力士乐伺服驱动器参数说明书ECODRIVE03设备一般自动化本机具有串行实时通信系统，模拟和并行接口。

违反这些规定将要求赔偿。

出版 INDRAMAT有限公司· Bgm.，博士，纳贝尔- STR基因。

2 ·的D – 97816加尔各答电话09352/40-0 ·发送689421 ·传真09352/40-4885部完（OS/TH）注意：本文件印在无氯漂白纸。

博士2 ............................................... ......... 2-8S - 0 - 0022，国际化域名列表，为商业无效运算数据列表。

博士3 ............................................... ...... 2-9 S - 0 - 0024，配置。

列表中的主数据电报............................................ ........................... 2-9S - 0 - 0025，国际化域名列表，所有程序命令的列表..................................... ............................ 2-9S - 0 - 0026，配置清单信号状态字....................................... ...................................... 2-9S - 0 - 0027，配置清单信号控制字....................................... ................................... 2-10S 0-0028的MST错误计数器......................................... .................................................. ........... 2-10 S - 0 - 0029，MDT的错误计数器......................................... .................................................. .. 2-10S - 0 - 0030，制造商版本.......................................... .................................................. ...... 2-10S - 0 - 0032，运行主模式........................................ ................................................. 2-11S - 0 - 0033，自学操作模式1 ........................................ ............................................. 2-13S - 0 - 0034，自学操作模式2 ........................................ ............................................. 2-14S - 0 - 0035，自学操作模式3 ........................................ ............................................. 2-14S - 0 - 0036，速度指令值......................................... .................................................. 2-15S - 0 - 0037，添加剂速度指令值........................................ ....................................... 2-15S - 0 - 0040，速度反馈值......................................... .................................................. ... 2-16S - 0 - 0041，回归速度.......................................... .................................................. .............. 2-16S - 0 - 0042，回归加速.......................................... .................................................. ... 2-16S - 0 - 0043，速度极性参数......................................... ................................................ 2-16S - 0 - 0044，扩展速度数据类型........................................ ........................................... 2-17S - 0 - 0048，位置命令值的其他........................................ .................................... 2-18S - 0 - 0049，正位置限值........................................ ................................................. 2-18S - 0 - 0050，消极立场限值........................................ ............................................... 2-19S - 0 - 0051，位置反馈值1 ........................................ .................................................. 2-19S - 0 - 0052，参考距离1 ......................................... ................................................. 2-19S - 0 - 0053，位置反馈值2 ........................................ .................................................. 2-20S - 0 - 0054，参考距离2 ......................................... .................................................. 2-20S - 0 - 0055，位置极性.......................................... .................................................. ... 2-20S - 0 - 0057，位置窗口.......................................... .................................................. .... 2-21S - 0 - 0076，定位数据缩放类型........................................ ........................................... 2-22S - 0 - 0077，线性位置数据换算系数....................................... ....................................... 2-23S - 0 - 0078，线性位置数据标度指数....................................... ................................. 2-23S - 0 - 0079，旋转位置决议......................................... ............................................ 2-24S - 0 - 0080，扭矩/ force命令........................................ ......................................... 2-24S - 0 - 0084，扭矩/力反馈值....................................... ............................................. 2-25S - 0 - 0085，扭矩/力极性参数....................................... ......................................... 2-25S - 0 - 0086，扭矩/力数据缩放类型...................................... ............................................ 2-26S - 0 - 0088，接收得到恢复时间（TMTSG）.................................... ........................... 2-26S - 0 - 0089，MDT的发送开始时间（t2）..................................... .............................. 2-26S - 0 - 0090，设定值传送时间（TMTSG）..................................... .............................. 2-26S - 0 - 0091，双极速度限值........................................ .................................................. 2-26S - 0 - 0092，双极扭矩/力极限值...................................... ............................................. 2-27S - 0 - 0093，扭矩/力数据换算系数...................................... ........................................... 2-27S - 0 - 0094，扭矩/力数据标度指数...................................... ..................................... 2-27S - 0 - 0095，诊断信息.......................................... .................................................. . 2-27S - 0 - 0096，从安排（SLKN）....................................... ............................................ 2-28S - 0 - 0097，面膜类2诊断........................................ ................................................. 2-28S - 0 - 0098，面膜3类诊断........................................ ............................................ 2-28S - 0 - 0099，C500的复位1级诊断....................................... ................................... 2-29S - 0 - 0100，速度环比例增益........................................ ........................................... 2-29S - 0 - 0101，速度环积分时间........................... ......................................... 2-29S - 0 - 0103，模值.......................................... .................................... 2-30S - 0 - 0104，位置环千伏因素....................................... ............................................... 2-30S - 0 - 0106，电流环比例增益第一...................................... .......................................... 2-31S - 0 - 0107，电流回路不可或缺的作用时间一...................................... ....................... 2-31S - 0 - 0108，进给倍率.......................................... .................................................. .... 2-31S - 0 - 0109，电机峰值电流......................................... .................................................. . 2-32S - 0 - 0110，峰值电流放大器......................................... ............................................. 2-32S - 0 - 0111，电动机在静止电流........................................ .............................................. 2-32S - 0 - 0112，放大器的额定电流......................................... ......................................... 2-32S - 0 - 0113，最大电机转速（n最大）...................................... ................................. 2-32S - 0 - 0115，位置反馈2型........................................ .................................................. .. 2-33S - 0 - 0116，反馈1分辨率......................................... .................................................. .... 2-33S - 0 - 0117，反馈2分辨率......................................... .................................................. .... 2-33S - 0 - 0121，负荷齿轮输入革命....................................... .............................................. 2-34S - 0 - 0122，负荷齿轮输出革命....................................... ........................................... 2-34S - 0 - 0123，饲料不断.......................................... .................................................. ................. 2-34S - 0 - 0128，C200的通讯第4期转移检查...................................... ................... 2-36S - 0 - 0130，探头值1上升沿....................................... ................................................ 2-36S - 0 - 0131，探头价值1负优势....................................... ............................................... 2-36S - 0 - 0132，探头值2上升沿....................................... ................................................ 2-36S - 0 - 0133，探头价值2负优势....................................... ............................................... 2-37S - 0 - 0134，主控制字......................................... .................................................. ......... 2-37S - 0 - 0135，驱动器状态字......................................... .................................................. ............. 2-37 S - 0 - 0138，双极加速度极限值........................................ ........................................... 2-38S - 0 - 0139，D700的命令停车轴........................................ ............................................ 2-38S - 0 - 0140，控制器类型.......................................... .................................................. ................ 2-39 S - 0 - 0141，电机类型.......................................... .................................................. ....................... 2-39 S - 0 - 0142，应用型.......................................... .................................................. .............. 2-39S - 0 - 0143，系统接口版本......................................... .................................................. 。

中文力士乐03系列DKC伺服驱动器参数手册