前言···············································································································1
第一章概述·······································································································1
1.1产品简介································································································1
1.2到货检查································································································1
1.3产品外观································································································4
第二章安装·······································································································5
2.1储存和安装环境························································································5
2.2伺服驱动器安装·······················································································6
2.2.1安装方法·························································································6
第三章接线·······································································································7
3.1标准接线································································································7
3.1.1配线·······························································································7
3.1.2位置控制方式···················································································9
3.1.3力矩、速度控制方式········································································10
3.2驱动器各端子功能···················································································11
3.2.1控制信号端口-CN1端子····································································11
3.2.2编码器输入端口-CN2端子································································12
3.2.3通讯端口·······················································································12
3.2.4功率端口······················································································13
3.3I/O接口原理···························································································13
3.3.1开关量输入接口··············································································13
3.3.2开关量输出接口·············································································14
3.3.3脉冲量输入接口··············································································14
3.3.4模拟量输入接口··············································································16
3.3.5伺服电机光电编码器输入接口····························································16
第四章参数······································································································17
4.1参数一览表····························································································17
4.2参数功能·······························································································21
4.2.1【分类0】基本设定········································································21
4.2.2【分类1】增益调整········································································25
4.2.3【分类2】振动抑制········································································30
4.2.4【分类3】速度、转矩控制·······························································33
4.2.5【分类4】I/F监视器设定································································38
4.2.6【分类5】扩展设定········································································43
4.2.7【分类6】特殊设定········································································47
第五章报警与处理····························································································49
5.1报警一览表····························································································49
5.2报警处理方法·························································································50
第六章显示与操作····························································································58
6.1概述·····································································································58
6.2面板显示和面板操作················································································59
6.2.1面板操作流程图··············································································59
6.2.2驱动器运行数据监视········································································60
6.2.3辅助功能······················································································62
6.2.4参数保存······················································································63
6.2.5异常报警·······················································································64
第七章通电运行·······························································································65
7.1运行前准备····························································································65
7.1.1接线检查······················································································65
7.1.2上电时序图···················································································66
7.1.3故障时序图···················································································66
7.2试运行··································································································66
7.2.1寸动控制······················································································67
7.2.2位置控制······················································································68
7.2.3速度控制······················································································69
7.2.4转矩控制······················································································70
7.3自动控制模式运行···················································································72
7.3.1操作模式选择·················································································72
7.3.2位置模式······················································································72
7.3.3速度模式······················································································74
7.3.4转矩模式······················································································77
第八章产品规格·······························································································78
8.1驱动器技术规格和尺寸·············································································78
8.2伺服电机规格·························································································78
8.3配件选择·······························································································78
交流伺服技术上世纪九十年代初发展至今，技术日臻成熟，性能不断提高，现已广泛应
用于数控机床、印刷包装机械、纺织机械、自动化生产线Z系列交流伺服系统是深圳市雷赛智能控制股份有限公司自主研制的新一代全数字交
流伺服系统，采用美国TI公司最新数字信号处理器DSP、现场可编程门阵列（FPGA）和
MITSUBISHI智能化功率模块（IPM），集成度高、体积小、保护完善、可靠性好。采用最优
通过修改参数可对伺服系统的工作方式、运行特性做出适当的设置，以适应不同的要求。
编码器型号空白：标准型号，1000~5000线增量式编码器（含省线（本手册介绍此系列，简称L5Z系列伺服。）
L5Z系列驱动器能带动功率小于等于自身驱动功率的电机工作，具体配套关系如下：
〖注〗：●表示对应功率的驱动器可以带动对应功率的电机工作。推荐使用与驱动器功率匹
大气室内（无暴晒）无腐蚀性气体、易燃气体、室内（无暴晒）无腐蚀性气体、易燃气体、
大气室内（无暴晒）无腐蚀性气体、易燃气室内（无暴晒）无腐蚀性气体、易燃气体、
用户可采用底板安装方式或面板安装方式安装，安装方向垂直于安装面向上。为保证良
接地：接地线应尽可能粗一点，驱动器与伺服电机在PE端子一点接地，接地电阻＜100
线长：电缆长度尽可能短，控制CN1电缆不超过3米，反馈信号CN2电缆长度不超
请给相关线路中的感性元件（线圈）安装浪涌吸收元件：直流线圈反向并联续流二极管，
当电机的力矩与旋转方向相反时（常见场景如减速、垂直轴下降等场景），此时能量会从负载
反馈回驱动器。这时候的能量回馈首先由驱动器内的电容接收，使得电容的电压上升，当上
再生能量与多种因素相关，减小再生能量功率的措施有：减小转动惯量、增加减速时间、减
首先使用驱动器内置电阻长时间运行，看是否能满足要求：保证驱动器温度d3360℃、
制动电路不报警(制动率d1480)、制动电阻不冒烟、驱动器不报过压错误。
若驱动器温度高，则尽量减少再生能量功率，或者外置同等规格电阻（此时需要取消内
若制动电阻冒烟，则尽量减少再生能量功率，或者外置同等规格甚至功率更大的电阻（此
若d14太大或者累加太快，说明再生能量太大，内置电阻无法消耗生成的能量，则减少
若驱动器报过压错误，则减少再生能量功率，或者外置阻值更小的电阻，或并联一个电
因驱动器的制动算法与再生电阻阻值和功率有关，故驱动器参数Pr0.16(再生放电电阻
图3.3左侧伺服驱动器控制信号端口CN1为DB44接插件，驱动器侧插座为孔式，与控
制器侧连接插头为针式；图3.3右侧从上到下依次为开关量SI输入、开关量SO输出、模拟
3PUL＋输入分别为脉冲输入正端和负端，TTL电平(5V)，默认上升沿有
5DIR＋输入分别为方向输入正端和负端，TTL电平(5V)，默认光耦截止
备注：通过相应PC机ProTuner软件或面板可分别设置除编码器输出信号以外的各输入输
PUL/DIR输入、SI输入、SO输出、AI输入信号连接图及端子排列图分别见图3-1、图3-3右
第三章接线）外部电源由用户提供，但是必需注意，如果电源的极性接反，会使伺服驱动器损坏。
（2）输出为集电极开路形式，最大电流50mA，外部电源最大电压25V。因此，开关量输出
信号的负载必须满足这个限定要求。如果超过限定要求或输出直接与电源连接，会使伺服驱
（3）如果负载是继电器等电感性负载，必须在负载两端反并联续流二极管。如果续流二极管
（2）差分驱动方式下，采用AM26LS31、MC3487或类似的RS422线）采用单端驱动方式，会使动作频率降低。根据脉冲量输入电路，驱动电流10～15mA，
限定外部电源最大电压25V的条件，确定电阻R的数值。经验数据：VCC24V，R1.3～
（4）采用单端驱动方式时，外部电源由用户提供，但必需注意，如果电源极性接反，会使伺
（5）脉冲输入形式详见表3.9，箭头表示计数沿，表3.5是脉冲输入时序及参数。当使用2
注意→设定值变高，则速度应答性变高，伺服刚性也提高，但变得容易产生振动。请在
惯量比设定正确时，Pr1.01、Pr1.06的设定单位为（Hz）。Pr0.04惯量比与实际
注意→相比较大时，速度环增益单位将变大；Pr0.04惯量比与实际相比较小时，速度环
将Pro.06「指令脉冲旋转方向设定」与Pro.07「指令脉冲输入模式设定」的组合如下表
对于绝对值式编码器：编码器分辨率2^(编码器位数)。以17位为例，编码器分
（2）本参数设定值为0时不生效，此时实际生效的位置脉冲数受DIV1、DIV2、
设定针对指令脉冲输入的分频、倍频处理的分子。使用方式参见Pr0.08的说明。
设定针对指令脉冲输入的分频、倍频处理的分子。使用方式参见Pr0.08的说明。
〈Pr0.11「电机每旋转1次的输出脉冲数」与Pr5.03「脉冲输出分频分母」
·采用编码器脉冲作为单位，单位为0.1rev所对应的脉冲个数，与具体使用的
编码器相关。若设置过小，会出现故障Err18.0（位置偏差过大异常检测）。
注意→Pr0.04惯量比设定正确时，则Pr1.01的设定单位为（Hz）。
设定值越小，积分效果越明显，抗干扰能力越强，停止时的偏差值更快接近于0，
速度检测后，可设定低通滤波器（LPF）的时间常数为32个阶段（0~31）。
在速度前馈滤波器设定为50（0.5ms）时，通过逐步提高速度前馈增益，而逐渐
位置偏差[指令单位]＝指令速度[指令单位/s]/位置环增益[1/s]×(100－速度
2有增益切换输入·增益切换输入（GAIN）连接到COM-的情况时为第2增益。
注意→位置控制时，为了缓和由于增益切换时的位置环增益急剧变化而带来的转矩变动
及振动，通过设定Pr1.19『位置环增益切换时间』，可缓和位置增益变大的切换
中国传统节日——端午节（课件）-综合实践活动四年级下册教科版.pptx
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