PRONET 交流伺服系统.pdf

伺服电机 Servo Motor伺服驱动器 Servo Drive系列Series功率Power型号Model三相交流200VThree-phase 200VAC三相交流400VThree-phase 400VAC中惯量MediumInertia小功率SmallEMJ3000r/min0.2kWEMJ-02AAProNet-02A0.4kWEMJ-04AAProNet-04A0.75kWEMJ-08AAProNet-08A1.0kWEMJ-10AAProNet-10A中功率MediumEMG2000r/min1.0kWEMG-10AAProNet-10A1.5kWEMG-15AAProNet-15A2.0kWEMG-20AAProNet-20A3.0kWEMG-30AAProNet-30A5.0kWEMG-50AAProNet-50AEML1000r/min1.0kWEML-10AAProNet-10A2.0kWEML-20AAProNet-20A3.0kWEML-30AAProNet-30A4.0kWEML-40AAProNet-50A大功率LargeEMB1500r/min7.5kWEMB-75DAProNet-75D11kWEMB-1ADAProNet-1AD15kWEMB-1EDAProNet-1ED伺服驱动器型号Servo Drive ModelProNet-02A04A08A10A15A20A30A50A75D1AD1ED适用伺服电机型号ApplicableServo Motors ModelEMJ-02AA04AA08AA10AA-EMG-10AA15AA20AA30AA50AA-EML-10AA-20AA30AA40AA-EMB-75DA1ADA1EDA连续输出电流(Arms)Continuous Output Current1.32.74.05.3/6.09.012.018.028.018.028.038.0最大输出电流(Arms)Max.Output Current3.98.112.015.9/18.028.042.056.084.056.070.084.0电源设备容量(kVA)Input Power Supply Capacity0.50.91.31.82.53.54.57.512.018.022.0项目 Items规格 Specifi cations输入电源Input Power Supply主电路Main Circuit200V三相 200230VAC 50/60Hz Three-phase 200 to 230VAC 50/60Hz (0.2kW-5.0kW)400V三相 380440VAC 50/60Hz Three-phase 380 to 440VAC 50/60Hz (7.5kW-15kW)控制电路Control Circuit200V单相 200230VAC 50/60Hz Single-phase 200 to 230VAC 50/60Hz (0.2kW-5.0kW)400V单相 380440VAC 50/60Hz Single-phase 380 to 440VAC 50/60Hz (7.5kW-15kW)控制方式 Control MethodSVPWM控制 SVPWM Control反馈 Feedback串行编码器:131072P/R Serial Encoder:131072P/R旋转变压器 Resolver使用条件Operating Conditions使用温度/保存温度Ambient/Storage Temperature使用温度:0+55C，保存温度:-20+85CAmbient Temperature:0 to+55C,Storage Temperature:-20 to+85C使用湿度/保存湿度Ambient/Storage Humidity90%RH以下(不结露)90%RH or less(no condensation)海拔高度 Elevation1000m以下 1000m or less耐振动/耐冲击Vibration/Impact Resistance耐振动:4.9m/s2，耐冲击:19.6m/s2Vibration Resistance:4.9m/s2,Impact Resistance:19.6m/s2构造 Confi gration基座安装 Base-mounted性能Performance速度控制范围 Speed Control Range1:5000速度变动率Speed Regulation负载变动率Load Regulation0100%负载时:0.01%以下(额定转速下)0 to 100%load:0.01%max.(at rated speed)电压变动率Voltage Regulation额定电压10%:0%(额定转速下)Rated voltage,10%:0%(at rated speed)温度变动率Temperature Regulation2525C:0.1%以下(额定转速下)2525C:0.1%max.(at rated speed)转矩控制Torque Control模拟量输入信号Analog Input指令电压Reference Voltage10VDC/额定转矩(可在110VDC范围内设定)最大输入电压:12V10VDC at rated torque(variable setting range:1 to 10VDC)Max.input voltage:12V输入阻抗Input Impedance约10M以上 About 10M min.回路时间参数Circuit Time Constant10s项目 Items规格 Specifications速度控制Speed Control模拟量输入信号Analog Input指令电压Reference Voltage10VDC/额定转速(可在110VDC范围内设定)最大输入电压:12V10VDC at rated torque(variable setting range:1 to 10VDC)Max.input voltage:12V输入阻抗Input Impedance约10M以上About 10M min.回路时间参数Circuit Time Constant10s设定速度指令Set SpeedReference旋转方向选择Rotation Direction Selection通过/P-CON进行方向切换Switches the direction by/P-CON速度选择 Speed Selection可选择第13速度 Speed 1 to 3 selection功能Function软启动设定Soft Start Setting010s(可分别设定加速和减速)0 to 10s(can be set individually for acceleration and deceleration)位置控制Position Control指令脉冲Reference Pulse种类Type可在符号+脉冲列、CCW+CW、90相位差2相脉冲(A相+B相)之中任选一种Sign+pulse train,CCW+CW pulse train,or 90 phase difference 2-phase pulse(phase A+phase B)形式Form非绝缘线驱动(约+5V)，集电极开路Non-insulated line driver(+5V level),open collector频率Frequencyx1倍频:4Mpps x1 multiplier:4Mppsx2倍频:2Mpps x2 multiplier:2Mppsx4倍频:1Mpps x4 multiplier:1Mpps集电极开路：200kpps Open collector:200kpps发生占空比偏差时频率会下降 Frequencies drop when the dutues have errors设定位置指令Set PositionReference位置设定Position Setting可设定16个位置节点Can set 16 position reference输入输出信号I/O Signals编码器分频脉冲输出Encoder Output PulsesA相、B相、C相:线驱动输出 Phase A,phaseB,phase C:line driver output分频脉冲数：可任意分频 The number of dividing pulse:Any setting ratio is available顺序输入信号Sequence Input通道数 Number of Channels8通道 8 channels功能Function可进行各种信号的分配、正负逻辑的变更:伺服使能(/S-ON)，比例控制(/P-CON)，报警复位(/ALM-RST)，位置偏差清零(/CLR)，正转驱动禁止(P-OT)，反转驱动禁止(N-OT)，正转电流限制(/P-CL)，反转电流限制(/N-CL)Signal allocations and positive/negative logics can be modified:Servo ON(/S-ON),P control(/P-CON),alarm reset(/ALM-RST),clear error pulse(/CLR),forward run prohibited(P-OT),reverse run prohibited(N-OT),forward torque limit(/P-CL),reverse torque limit(/N-CL)顺序输出信号Sequence Output通道数 Number of Channels4 通道 4 channels功能Function伺服报警(ALM)可进行各种信号的分配、正负逻辑的变更：定位完成(/COIN)，速度一致(/V-CMP)，电机旋转检测(/TGON)，伺服准备就绪(/S-RDY)，转矩限制输出(/CLT)，制动器联锁(/BK)，编码器C脉冲(/PGC)Servo alarm(ALM)Signal allocations and positive/negative logics can be modified:Positioning completion(/COIN),speed agree detection(/V-CMP),motor rotation detection(/TGON),servo ready(/S-RDY),torque limit detection(/CLT),brake interlock(/BK),encoder C pulse(/PGC)内置功能Built-in Functions动态制动器(DB)功能Dynamic Brake(DB)Functions主电源断开、伺服报警、伺服不使能时及超程时工作Operates during main power OFF,servo alarm,servo OFF or overtravel再生处理功能Regenerative Processing Functions750W5.0kW:内置再生电阻；7.5kW15kW:外置再生电阻750W to 5.0kW:built-in regenerative resistor;7.5kW to 15kW:External regenerative resistor(optional)保护功能Protective Functions过电流、过电压、欠电压、过负载、再生故障、超速、等等Overcurrent,overvoltage,low voltage,overload,regeneration error,overspeed,etc.辅助功能Utility Functions报警记录、JOG运行、惯量识别等Alarm trace back,JOG operation,Inertia detections,etc.显示功能Display FunctionsCHARGE(红色)、POWER(绿色)、7段LEDx5个(内置数字式操作器功能)CHARGE(red),POWER(green),7-segment 5-digit LED(Bulit-in digital operator function)通信功能CommunicationsRS-485通讯端口，采用MODBUS协议；CAN通讯端口，采用CANOpen协议RS-485 communication port,use MODBUS protocol.CAN communication port,use CANOpen protocol.拨码开关地址设定报警指示灯通讯指示灯连接端子Profibus 模块Profibus ModuleProfibus6RS485接口RS485-BCode SwitchAddress SettingAlarm LightCommunication LightProfibusCommectionEndConnectorRS485-AGND+5V385CN2CN1CN3CN4POWERCHARGE200VPRONET-50ASERVODRIVE(75)10013.8(32)5.5204.56270.5258.5(安装间距)(Mounting Pitch)6125112125270.5气流Air Flow气流Air Flow安装孔加工图Mounting Hole Diagram105(38)DP 100ADDHADDLCN524接地端子2-M4螺钉Ground Terminal2-M4 Screws扩展模块Extended Module冷却风扇Cooling Fan4-M5 螺纹孔4-M5 Screw Holes外形Figure接线端子(14-M4 螺钉)Terminal(14-M4Screws)切断电源分钟内，请勿触摸驱动器端子和配线！有触电的危险。Use proper grounding techniques.Do not touch heatsink.May cause burn.务必在阅读使用说明书后，按其步骤操作。Read manual carefully and follow the direction.Disconnect all power and wait 5 minutes before servicing.通电时请勿触摸散热片！有烫伤的危险。危 险WARNINGMay cause electric shock.接地端子必须接地。注 意CAUTIONB2B3UVWCOMMALM铭牌Nameplate(75)100180(32)13.84.8铭牌Nameplate气流Air Flow5.5175186895.5100(安装间距)(Mounting Pitch)安装孔加工图Mounting Hole Diagram外形Figure4-M4 螺纹孔4-M4 Screw Holes9694.4冷却风扇CoolingFanCN1CN2UVWL1CL2CB1B2B3CN4L112L2L3CN3POWERCHARGE200VPRONET-10ASERVODRIVE100186气流Air Flow气流Air Flow气流Air FlowCN5COMMALMADDLADDHDP 100243种接线端子ThreeTerminal扩展模块Extended Module接地端子2-M4螺钉Ground Terminal2-M4 Screws切断电源分钟内，请勿触摸驱动器端子和配线！有触电的危险。Use proper grounding techniques.Do not touch heatsink.May cause burn.务必在阅读使用说明书后，按其步骤操作。Read manual carefully and follow the direction.Disconnect all power and wait 5 minutes before servicing.通电时请勿触摸散热片！有烫伤的危险。危 险WARNINGMay cause electric shock.接地端子必须接地。注 意CAUTION133冷却风扇CoolingFan426186CN2CN1CN4CN3POWERCHARGE400VSERVODRIVEPRONET-1EDDP100ADDHADDLCN524接地端子2-M6螺钉Ground Terminal2-M6 Screws扩展模块Extended Module切断电源分钟内，请勿触摸驱动器端子和Use proper grounding techniques.Do not touch heatsink.May cause burn.务必在阅读使用说明书后，按其步骤操作。Disconnect all power and wait 5 minutes通电时请勿触摸散热片！有烫伤的危险。危 险May cause electric shock.接地端子必须接地。注 意Read manual carefully and follow the direction.配线！有触电的危险。before servicing.COMMALM4064261014518620.5(安装间距)(Mounting Pitch)(安装间距)(Mounting Pitch)外形Figure安装孔加工图Mounting Hole Diagram4-M5螺纹孔4-M5 Screw Holes93135.2177冷却风扇Cooling Fan10013.8(32)(75)270200.5铭牌Nameplate气流Air Flow气流Air Flow气流Air Flow电压 Voltage200VAC伺服电机型号EMJ-02AA04AA08AA10AA额定输出功率kW0.20.40.751.0额定转矩N.m0.641.272.393.18瞬间最大转矩N.m1.913.827.169.55额定电流Arms1.32.74.05.3瞬间最大电流Arms3.98.112.015.9额定转速r/min3000最高转速r/min4500转子转动惯量X10-4kgm20.19(0.23)0.31(0.35)1.35(1.47)1.74(1.87)制动器额定电压DC24V10%制动器额定功率W7.211.5制动器保持转矩N.m1.33.2编码器标准 Standard增量式编码器：131072P/R Incremental Encoder:131072P/R选项 Options绝对值编码器：131072P/R Absolute Encoder:131072P/R耐热等级F环境温度0 +40(不结冻)0 to+40(no freezing)环境湿度20%80%RH(不结露)20 to 80%RH (non-condensing)抗振性能49m/s2保护方式全封闭，自冷，IP65(除输出轴承和连接器)Totally Enclosed,Self-cooled,IP65(Except for shaft opening and connectors)Servo Motor ModelRated Output PowerRated TorqueInstantaneous Peak TorqueRated CurrentInstantaneous Max CurrentRated SpeedMax.SpeedRotor Moment of Inertia Brake Rated VoltageBrake Rated PowerBrake Holding TorqueEncoderInsulation ClassAmbient TemperatureAmbient HumidityVibrationEnclosurer/minr/minr/minr/min型号 Model EMJ-LLL法兰面 Flange SideS螺纹孔深度TapDepth键 KeyLRLELFLCLALBLZQKQLWTU02AA153(193)123(163)30366070505.514M510L16455304AA173(213)143(183)30366070505.514M510L16455308AA191(234)156(199)3539809070619M615L224663.510AA211(254)176(219)3539809070619M615L224663.5112233441256711223344125671122334412567BA050010001500250030000481216Torque(Nm)Motor Speed(r/min)Motor Speed(r/min)20002000Motor Speed(r/min)Motor Speed(r/min)Motor Speed(r/min)Torque(Nm)2418126030002500150010005000ABBA05001000150025003000020406080Torque(Nm)20002000Torque(Nm)48362412030002500150010005000ABBA0500100015002500300008162432Torque(Nm)2000EMG-10AAEMG-30AAEMG-50AAEMG-15AAEMG-20AA电压 Voltage200VAC伺服电机型号EMG-10AA 15AA 20AA 30AA50AA额定输出功率W1.01.52.03.05.0额定转矩N.m4.787.169.5514.323.9瞬间最大转矩N.m14.321.528.743.071.6额定电流Arms6.09.012.018.028.0瞬间最大电流Arms18.027.036.054.084.0额定转速r/min2000最高转速r/min3000转子转动惯量X10-4kgm210.0(10.6)14.5(15.1)19.0(19.6)41.3(44.5)65.7(68.9)制动器额定电压DC24V10%制动器额定功率W1935制动器保持转矩N.m1040编码器标准 Standard增量式编码器:131072P/RIncremental Encoder:131072P/R 选项 Options绝对值编码器:131072P/RAbsolute Encoder:131072P/R旋转变压器 Resolver 耐热等级F环境温度0 +40(不结冻)0 to+40(No freezing)环境湿度20%80%RH(不结露)20 to 80%RH (Non-condensing)抗振性能24.5m/s2保护方式全封闭，自冷，IP65(除输出轴承和连接器)Totally Enclosed,Self-cooled,IP65(Except for shaft opening and connectors)Servo Motor ModelRated Output PowerRated TorqueInstantaneous Peak TorqueRated CurrentInstantaneous Max.CurrentRated SpeedMax.SpeedRotor Moment of Inertia Brake Rated VoltageBrake Rated PowerBrake Holding TorqueEncoderInsulation Class Ambient TemperatureAmbient HumidityVibrationEnclosure绝对值编码器:131072P/RAbsolute Encoder:131072P/R旋转变压器ResolverACB型号 Model EMG-LLLKB1KB2KL1 KL2法兰面 Flange SideS螺纹孔深度TapDepth键 KeyLRLELFLCLALBLZQK QLWTU10AA215(269.5)160(214.5)84135(189.5)1187955412130145110922M620L40587415AA240(294.5)185(239.5)109160(214.5)1187955412130145110922M620L40587420AA265(319.5)210(264.5)134185(239.5)1187955412130145110922M620L40587430AA307(378)228(299)143203(274)14079793.218180200114.313.5 35M816L556108550AA347(418)268(339)183243(314)14079793.218180200114.313.5 35M816L5561085LKL2KL1AAQLLBh7Sh64-LZLA LCTWULELFLRLLKB2KB1QKCross Section A-ATap x DepthBA05001500016324864Torque(Nm)Motor Speed(min)-110001000-1Motor Speed(min)Torque(Nm)96724824015005000ABBA050015000326496128Torque(Nm)Motor Speed(min)-110001000-1Motor Speed(min)Torque(Nm)3224168015005000ABEML-10AAEML-20AAEML-30AAEML-40AA电压 Voltage200VAC伺服电机型号EML-10AA20AA30AA40AA额定输出功率W1.02.03.04.0额定转矩N.m9.5519.128.738.2瞬间最大转矩N.m28.757.386.0114.6额定电流Arms6.012.018.024.0瞬间最大电流Arms18.036.054.072.0额定转速r/min1000最高转速r/min1500转子转动惯量X10-4kgm219.0(19.6)53.5(56.7)77.8(81.0)102.2(105.4)制动器额定电压DC24V10%制动器额定功率W1935制动器保持转矩N.m1040编码器标准 Standard增量式编码器:131072P/RIncremental Encoder:131072P/R 选项 Options绝对值编码器:131072P/RAbsolute Encoder:131072P/R旋转变压器 Resolver耐热等级F环境温度0 +40(不结冻)0 to+40(No freezing)环境湿度20%80%RH(不结露)20 to 80%RH (Non-condensing)抗振性能24.5m/s2保护方式全封闭，自冷，IP65(除输出轴承和连接器)Totally enclosed,Self-cooled,IP65(Except for shaft opening and connectors)Servo Motor ModelRated Output PowerRated TorqueInstantaneous Peak TorqueRated CurrentInstantaneous Max.CurrentRated SpeedMax.SpeedRotor Moment of Inertia Brake Rated VoltageBrake Rated PowerBrake Holding TorqueEncoderInsulation ClassAmbient TemperatureAmbient HumidityVibrationEnclosure绝对值编码器:131072P/RAbsolute Encoder:131072P/R旋转变压器 Resolver型号 Model EML-LLLKB1KB2KL1 KL2法兰面 Flange sideS螺纹孔深度TapDepth键 KeyLRLELFLCLALBLZQK QLWTU10AA265(319.5)210(264.5)134185(187.5)1187955412130 145110922M620L40587420AA332(401)253(322)168228(245)14079793.218180 200114.313.5 35M816L556108530AA372(443)293(364)208268(287)14079793.218180 200114.313.5 35M816L556108540AA412(478)333(399)243308(322)14079793.218180 200114.313.5 35M816L5561085ACBLKL2KL1AAQLLBh7Sh64-LZLA LCTWULELFLRLLKB2KB1QKCross Section A-ATap x Depth电压 Voltage400VAC伺服电机型号EMB-75DA1ADA1EDA额定输出功率kW7.511.015.0额定转矩N.m47.870.095.5瞬间最大转矩N.m119.4175191额定电流Arms18.028.038.0瞬间最大电流Arms56.070.084.0额定转速r/min1500最高转速r/min2000转子转动惯量X10-4kgm2186.2(193.6)271.6(278.9)338.8(346.1)制动器额定电压DC24V10%制动器额定功率W90制动器保持转矩N.m100编码器标准 Standard绝对值编码器:131072P/R Absolute Encoder:131072P/R选项 Options旋转变压器 Resolver耐热等级F环境温度0 +40(不结冻)0 to+40(No freezing)环境湿度20%80%RH(不结露)20 to 80%RH(Non-condensing)抗振性能24.5m/s2保护方式全封闭，强制风冷，IP44Totally enclosed,Forced-air Cooling,IP44 Servo Motor ModelRated Output PowerRated TorqueInstantaneous Peak TorqueRated CurrentInstantaneous Max.CurrentRated SpeedMax.SpeedRotor Moment of Inertia Brake Rated VoltageBrake Rated PowerBrake Holding TorqueEncoderInsulation ClassAmbient TemperatureAmbient HumidityVibrationEnclosureEMB-75D AMotor Speed(r/min)Motor Speed(r/min)Motor Speed(r/min)Torque(Nm)160120804002000150010005000ABBA0500100015002000050100150200Torque(Nm)EMB-1ADAEMB-1EDATorque(Nm)2001501005002000150010005000ABLKL1AAQLLBh7Sh6LCTWULELFLRLLKB2KB1QKCross Section A-ATap x Depth4-LZLA型号 Model EMG-LLLKB1KB2KL1法兰面 Flange SideS螺纹孔深度TapDepth键 KeyLRLELFLCLALBLZQK QLWTU75DA530(625)414(509)366(461)302(397)184116420220235200 13.5 42M1632L90612851ADA580(675)464(559)416(511)352(447)184116420220235200 13.5 42M1632L90612851EDA615(710)499(594)451(546)387(482)184116420220235200 13.5 55M2040L90616106名称 Name型号 Model规格 Specifications连接器套件Connector KitCN1EC-CN1-50CN2EC-CN2-20通讯电缆Communication CablesCN3PSC-CC24-XX串行编码器电缆Serial Encoder CablesEMJPSP-JE24-XXPAP-JE24-XXEMGEMLEMBPSP-GA24-XXPAP-GA24-XX旋转变压器电缆Resolver CablesEMGEMLEMBPRP-GA24-XX动力电缆Power CablesEMJPDM-JE18-XXEMG-10AEMG-15AEML-10APDM-GA16-XXEMG-20APDM-GA14-XXEML-20APDM-GD14-XXEMG-30A/50AEML-30A/40APDM-GD12-XXUVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320UVWFGUVWFGFGFG3M103203M103203M103203M103203M10320CBDJKHLNA2-GEMF型号 Model 额定功率Rated Capacity阻值Resistor Value尺寸 Dimensions(mm)适用伺服驱动器Applicable Servo DrivesABCDEFGHJKLMNDQN1500W11K1500W11510 530570 70157082560125 1.6102ProNet-75DProNet-1ADProNet-1ED噪声滤波器Noise FilterL1L2L3三相交流 200230V(50/60Hz)Three-phase 200 to 230VAC(50/60Hz)+10%-15%+10%-15%电源OFFPowerOFF电源ONPowerON1KM1SUP1KM1RyL1L2L312WVUMPG伺服电机Servo motor编码器EncoderA(1)B(2)C(3)D(4)L2CL1CB1B2B3+A/DCN1CN22K1501503.3K2KPULS/CW/ASIGN/CCW/B屏蔽线与连接器壳体相连。Connect Shield to Connector Shell.ProNet系列伺服驱动器Series Servo Drives集电极开路指令使用Open-collector ReferenceUse速度指令(1V10V/额定转速)Speed Reference(1V to 10V/Rated Motor Speed)转矩指令(1V10V/额定转矩)Torque Reference(1V to