DM3J-EC556-步进驱动器-用户手册.pdf - 第7页
2 5.3 电机异常停止 设定 .............. ......... ........ ........ ......... ........ ......... ........ ......... ........ ......... ........ ........ ......... .......30 5.4 指令滤波设定 ........ ........ ......... ........ ........…
DM3J 系列用户手册
1
目 录
前 言
.......................................................................................................................................................................... 1
产品概述 ..............................................................................................................................................................1
术语和缩写 ..........................................................................................................................................................2
安全注意事项 .............................................................................................................................................................. 3
整体注意事项
......................................................................................................................................................3
存储及运输时的注意事项 ..................................................................................................................................3
安装时注意事项
..................................................................................................................................................4
配线时的注意事项 ..............................................................................................................................................4
运行时的注意事项
..............................................................................................................................................4
目 录 .......................................................................................................................................................................... 1
第一章 产品概述 ........................................................................................................................................................4
1.1 产品特性 .......................................................................................................................................................4
1.2
包装信息
.......................................................................................................................................................5
1.3
型号说明
.......................................................................................................................................................6
1.4
部件名称
.......................................................................................................................................................6
1.5 电气规格 .......................................................................................................................................................7
1.6 外形尺寸 .......................................................................................................................................................7
第二章 安装 ................................................................................................................................................................ 8
2.1 注意事项 .......................................................................................................................................................8
2.2
安装类型与方向
...........................................................................................................................................8
2.3 安装孔尺寸...................................................................................................................................................8
2.4
安装间隔
.......................................................................................................................................................9
第三章 接线和连接 ..................................................................................................................................................10
3.1
接线时的注意事项
.....................................................................................................................................10
3.1.1 一般注意事项 ..................................................................................................................................10
3.1.2 抗干扰对策 ......................................................................................................................................10
3.1.3 接地 ..................................................................................................................................................11
3.2
基本连接图
...............................................................................................................................................12
3.3 驱动器引脚分布 .......................................................................................................................................12
3.4
电源端子的连接
.......................................................................................................................................13
3.5 电机绕组端子的连接 ...............................................................................................................................13
3.6 IO
信号的连接
.......................................................................................................................................... 14
3.7 通信信号的连接 .......................................................................................................................................15
3.8 拨码开关 ...................................................................................................................................................17
第四章 MS 调试软件 ................................................................................................................................................18
4.4.1
软件安装
..........................................................................................................................................18
4.4.2
软件介绍
..........................................................................................................................................18
4.4.3
软件连接故障排查
......................................................................................................................... 23
第五章 功能设定与调整..........................................................................................................................................24
5.1 常用功能设定 ...........................................................................................................................................24
5.1.1 电流设定 ..........................................................................................................................................24
5.1.2 细分设定 ..........................................................................................................................................24
5.1.3
电机运行方向设定
......................................................................................................................... 24
5.1.5 IO 极性设定 ...................................................................................................................................25
5.1.6
保存操作
..........................................................................................................................................26
5.2 IO 信号配置 .............................................................................................................................................. 27
5.2.1
输入口配置
....................................................................................................................................27
4.2.2 输出口配置....................................................................................................................................29
2
5.3 电机异常停止设定 ...................................................................................................................................30
5.4
指令滤波设定
...........................................................................................................................................31
5.5 故障复位操作 ...........................................................................................................................................31
5.7
抱闸功能运用
...........................................................................................................................................31
5.8 同步相关设定 ...........................................................................................................................................32
5.9 EtherCAT 从站别名设定...........................................................................................................................32
5.10 整定参数调整 .........................................................................................................................................33
5.11
探针功能
.................................................................................................................................................33
第六章
EtherCAT
通信基础
....................................................................................................................................36
6.1
简介
...........................................................................................................................................................36
6.2 规格 ...........................................................................................................................................................36
6.3 状态说明 ...................................................................................................................................................37
6.4 EtherCAT 从站信息（ESI）......................................................................................................................37
6.5 EtherCAT 状态机 .......................................................................................................................................38
6.6
服务数据对象（
SDO
）
............................................................................................................................38
6.7 过程数据对象（PDO） ........................................................................................................................... 39
6.7.1 PDO
概述
...........................................................................................................................................39
6.7.2 PDO 映射 ...........................................................................................................................................39
6.7.3 PDO
动态映射
...................................................................................................................................39
6.7.4 PDO 动态映射过程 .......................................................................................................................... 39
6.8
同步模式
...................................................................................................................................................40
6.8.1 自由运行模式 ..................................................................................................................................40
6.8.2
分布时钟同步模式
......................................................................................................................... 40
第七章 控制模式 ....................................................................................................................................................41
7.1 DM3J
驱动系统运动步骤
........................................................................................................................ 41
7.2 CiA402 状态机 .......................................................................................................................................... 41
7.3 控制模式的设定 .......................................................................................................................................43
7.4 操作模式下的共同设定 ...........................................................................................................................43
7.4.1 控制字 ..............................................................................................................................................43
7.4.2
状态字
..............................................................................................................................................44
7.4.3
同步周期设定
..................................................................................................................................44
7.5
位置控制功能（
CSP
、
PP
、
HM
）
.......................................................................................................... 45
7.5.1
位置控制共通功能
...........................................................................................................................45
7.5.2 循环同步位置模式(CSP) .................................................................................................................. 45
7.5.3 协议位置模式(PP) ............................................................................................................................46
7.5.4 原点模式（HM） ............................................................................................................................48
7.6 速度控制功能（PV） ................................................................................................................................. 59
7.6.1
速度控制共通功能
...........................................................................................................................59
7.6.3 协议速度模式 ...................................................................................................................................59
第八章 报警处理
....................................................................................................................................................61
8.1 报警一览表.................................................................................................................................................61
8.2
驱动报警处理方法
.....................................................................................................................................62
8.3 其他报警及处理方法 .................................................................................................................................67
8.3.1 故障排查思路
................................................................................................................................67
8.3.2 部分故障及解决思路 ....................................................................................................................67
8.4
报警清除
.....................................................................................................................................................69
8.4.1 伺服驱动报警 ................................................................................................................................69
8.4.2 通讯报警清除
................................................................................................................................69
第九章 对象字典 ....................................................................................................................................................70
9.1 对象字典结构 ...........................................................................................................................................70
9.2 对象组 1000h 分配一览 .......................................................................................................................... 70
9.3 对象组 2000h 分配一览 .......................................................................................................................... 72
9.4
对象组
6000h
分配一览
.......................................................................................................................... 80
