ST系列伺服电机选型手册(2015.5)V3.0
华大系列伺服电机选型手册
LB系列机座号（mm）：80、110、130、150额定转矩（Nm）：1.3～27额定功率（Kw）：0.4～5.5额定转速（rpm）：1500、2000、2500、3000最高转速（rpm）：/转子惯量：中惯量标配反馈元件：增量式编码器（2500C/T）失电制动器：可配适配驱动器工作电压（VAC）：220LBB系列机座号（mm）：80、110、130、150额定转矩（Nm）：1.3～19.1额定功率（Kw）：0.4～3.0额定转速（rpm）：1500、2000、3000最高转速（rpm）：3000、5000转子惯量：中惯量标配反馈元件：总线式光电编码器失电制动器：可配适配驱动器工作电压（VAC）：220HB系列机座号（mm）：110、130、150额定转矩（Nm）：2～27额定功率（Kw）：0.6～5.5额定转速（rpm）：1500、2000、2500、3000最高转速（rpm）：/转子惯量：中惯量标配反馈元件：增量式编码器（2500C/T）失电制动器：可配适配驱动器工作电压（VAC）：380HBB系列机座号（mm）：110、130、150额定转矩（Nm）：2.4～28.7额定功率（Kw）：0.4～5.5额定转速（rpm）：1500、2000最高转速（rpm）：3000转子惯量：中惯量标配反馈元件：总线式光电编码器失电制动器：可配适配驱动器工作电压（VAC）：380请您关注以下伺服电机为自冷式散热方式，安装时请选择足够大的安装板。
伺服电机长期工作，机体本身会有一定的温度，这是正常情况。
装配了失电制动器的伺服电机，其失电制动器的电源必须由驱动器控制开闭，否则会造成工作状态不佳。
伺服电机内装精密反馈元件，严禁重力敲击电机轴伸端及后部。
请注意电机轴伸端的最大径、轴向力的限值。
严禁随意更改、拆装及加工电机部件。
请您将需求告之我们，我们来为您服务。
电机电联接器转矩转速曲线示意图LB 、HB系列 LBB 、HBB 系列LB、LBB 、HB 、HBB 系列伺服电机的Mmax=3Mn ；Mmax 输出状态为短时工作。
伺服说明书v
Ver 2.0克瑞斯伺服驱动器使用手册台州亿丰电子有限公司1.1 产品检查 (1)1.2 产品铭牌 (2)1.3 产品前面板 (2)1.4 驱动器技术规格 (4)1.5 伺服电机安装 (4)第二章接线 (5)2.1 系统组成与接线 (5)2.2 CN1 通信接口 (8)2.3 CN2 控制接口 (9)2.4 CN3 编码器接口 (14)2.3 标准接线 (15)第三章面板操作 (16)3.1 面板组成 (16)3.2 模式功换 (17)3.3 监控模式操作 (18)3.4 辅助模式操作 (18)3.5 用户参数模式操作 (22)第四章功能参数一览表 (23)4.1 参数设置面板操作 (23)4.2 参数一览表 (23)5.1 监控面板操作 (32)5.2 监控参数一览表 (32)第六章报警及处理 (33)6.1 报警清除操作 (33)6.2 警报内容与对策表 (34)第七章 MODBUS 通信功能 (36)7.1 MODBUS 通信简介 (36)7.2 通信协议结构 (38)7.3 常用命令码 (39)7.4 伺服参数、状态信息通信地址 (47)附录 (47)附录 A 位置/速度控制模式切换 (48)附录 B 内部位置控制 (48)附录 C 输入功能控制方式选择寄存器 (50)附录 D 输入功能逻辑状态设置寄存器 (51)附录 E 输出功能状态寄存器 (51)第一章产品检查及安装1.1 产品检查本产品在出厂前均做过完整功能测试，为防止产品运送过程中因疏忽导致产品不正常，拆封后请详细检查下列事项：● 检查伺服驱动器与伺服电机型号是否与订购的机型相同。
● 检查伺服驱动器与伺服电机外观有无损坏及刮伤现象。
运送中造成损伤时请勿接线送电。
● 检查伺服驱动器与伺服电机有无零组件松脱之现象。
是否有松脱的螺丝，是否螺丝未锁紧或脱落。
● 检查伺服电机转子轴是否能以手平顺旋转。
带制动器的电机无法直接旋转。
如果上述各项有了生故障或不正常的现象，请立即与经销商联系。
伺服电机选型手册
SM 110-020-30 LFB 2 Nm 3000 rpm 0.6Kw SA3L04C SA3L06B SA3H10C
SM 110-040-30 LFB 4 Nm 3000 rpm 1.2Kw SA3L06B SA3L10B SA3H10C
SM 130-040-25 LFB 4 Nm 2500 rpm 1.0Kw SA3L06B SA3L10B SA3H10C
SM 130-050-25 LFB 5 Nm 2500 rpm 1.3Kw SA3L06B SA3L10B SA3H10C
SM 130-060-25 LFB 6 Nm 2500 rpm 1.5Kw SA3L06B SA3L10B SA3H10C
转矩-转速图(T—M图1图2-A(图2-B图3-A(图3-B
额定转矩(Nm 1.3 2.4 3.3
A(mm 128 150 165
B(mm 500 500 500
转矩-转速图(M-n:
图1
图2-A图2-B
图3-A图3-B注:A区间连续工作区;B区间短时工作区;图X-A为SFC配置,图X-B为SFC+配置。
4:表示驱动器软件订制标志。
伺服电机主要参数BONMET伺服驱动器型号
电机系列电机型号额定转矩额定转速额定功率SFC配置SFC+配置高压配置ห้องสมุดไป่ตู้
SM型伺服电机40系列
SM 40-001-30LFB 0.1Nm 3000rpm 0.03Kw SL10A SA3L04C SA3H10C
SM 40-002-30LFB 0.13Nm 3000rpm 0.05Kw SL10A SA3L04C SA3H10C
菲尼克斯选型ST
AI...AI-TWIN...订货号根据DIN VDE0110:1989-01标准确定电器间隙和爬电距离VDE标准DIN VDE0110采纳了IEC标准IEC664/664A的实质性内容，以实现下述目标：从要承受的绝缘负荷出发来选所需要的绝缘强度，以此来确定所需的最小绝缘距离。
这一基本标准适用于这样一些情况，即仪器制造标准上没有有关确定电气间隙和爬电距离的规定。
若仪器制造标准上有相应的规定说明，则以仪器制造标准为准。
绝缘配合绝缘配合即在考虑器件的实际运用场合和环境条件的前提下确定器件应具备的绝缘特性。
这一方面涉及到与电气间隙有关的可能出现的过电压和过电压保护装置的特性值，另一方面涉及到与爬电距离有关的工作电压、会降低器件绝缘特性的直接周围环境和防污染保护措施。
因此电气间隙的大小要根据设备可能出现的外部的或内部的最大过电压来确定。
在不同场合使用器件或运用过电压保护装置时所出现的外部过电压大小各不相同。
因此将过电压按不同的使用场合分为l至lV四个等级。
在每个过电压等级中，根据所使用的配电网的额定电压的大小，确定相应的脉冲耐受电压值。
根据电场的均匀性情况（情况A-非均匀电场，情况B-均匀电场）从表2a（最小电气间隙）中找到最小电气间隙值。
情况A所确定的电气间隙可在任何情况下承受相应的脉冲耐受电压，这就是说根据A确定电气间隙尺寸的器件不需再做检验就可直接使用。
根据情况B确定的电气间隙值是理想条件下的电气间隙值。
介于情况A和情况B之间的电气间隙值需要通过做脉冲耐受电压实验来证实。
在确定电气间隙和爬电距离时通过将污染程度分为4个等级而将污染对绝缘特性的影响考虑在内。
爬电距离的确定基础是从供电电网的额定电压推导出来的基准电压。
由表4可知如何根据基准电压，污染等级来确定最小爬电距离值。
若在产品说明中无特殊说明，则本产品样本中所列产品的电气间隙和爬电距离均按标准DIN VDE0110:1989-01及过电压等级Ⅲ和污染等级3确定。
ST官方电机控制套件用户手册
ST官⽅电机控制套件⽤户⼿册UM0709User ManualSTM8/128-MCKIT motor control starter kit 1 IntroductionThe STM8/128-MCKIT starter kit is an integrated system designed to provide a complete, ready-to-use motor control application developed around the STMicroelectronics STM8 microcontroller.This starter kit is particularly suited to drive 3-phase brushless motors (either AC induction or permanent magnet types) and demonstrates how effectively the STM8 microcontrollers can be used in real-world motor control applications.●Drive is based on scalar control (BLDC or ACIM) for three-phase motors.●Position and/or speed measurement is implemented using Hall sensors or a tachometer.●Sensorless control is also implemented.●The inverter is driven using the PWM modulation technique.The STM8/128-MCKIT starter kit can be run in various ways:●As a plug-and play demo, out of the box, with the provided BLDC motor, in sensorless speed control mode.●With an AC induction motor, after reprogramming the microcontroller, in open loop or in speed control mode.However, the main advantage of the STM8/128-MCKIT is that you can use it to create your own applications and re-program the STM8 microcontroller. Y ou can develop your own applications using the dedicated software libraries provided in the starter kit in conjunction with a third-party IDE and C compiler.This manual describes:●The STM8/128-MCKIT starter kit components, and how to set up the hardware to runthe provided BLDC motor or an AC induction motor.●How to run the STM8/128-MCKIT starter kit in standalone mode.●The BLDC daughterboard (MB843).For information about the STM8 microcontroller features, refer to the datasheet. The STM8 evaluation board features, peripherals, and connectors are described in the STM8/128-EVAL user manual (UM0482).For information on the BLDC and AC induction motor software libraries and how to use them in motor control application development projects, refer to the STM8S three-phase BLDC software library (UM0708) and the STM8S three-phase AC induction motor software library user manual (UM0712) respectively. Y ou will find these manuals, and all related documentation on the STM8/128-MCKIT CD-ROM.June 2009Doc ID 15774 Rev 21/22/doc/219f7fae551810a6f52486d0.htmlContents UM0709Contents1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Safety warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.1General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.2Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.3Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.4Important notice to users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43STM8/128-MCKIT hardware setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53.1Package checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53.1.1Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53.1.2Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.1.3Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.1.4Components not provided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.2Brushless DC motor (default) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73.3AC induction motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73.4Hardware configuration for a BLDC motor (default) . . . . . . . . . . . . . . . . . . 83.5Hardware configuration for an AC induction motor . . . . . . . . . . . . . . . . . . 113.6Power supply connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134BLDC daughterboard MB843 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.1Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.2Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154.3Jumper configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164.4Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175Running the starter kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185.1Running the BLDC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185.2Running the AC induction motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 6Creating your custom application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Appendix A Additional information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2/22 Doc ID 15774 Rev 2UM0709ContentsA.1Modification of MB631 for BLDC drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 20A.2Recommended reading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20A.3Software upgrades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20A.4Getting technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Doc ID 15774 Rev 23/22Safety warnings UM07094/22 Doc ID 15774 Rev 22 Safety warnings2.1 GeneralIn operation, the STM8/128-MCKIT starter kit has non-insulated wires, moving or rotatingparts (when connected to a motor), as well as hot surfaces. In case of improper use, incorrect installation or misuse, there is danger of serious personal injury and damage to property. All operations, installation and maintenance are to be carried out by skilled technical personnel (applicable accident prevention rules must be observed).When the power board is supplied with voltages greater than 30 V AC/DC, all of the board and components must be considered “hot”, and any contact with the board must be avoided. The operator should stay away from the board as well (risk of projection of material in case of components destruction, especially when powering the board with high voltages).The rotating parts of motors are also a source of danger.The STM8/128-MCKIT starter kit contains electrostatic sensitive components which may be damaged through improper use.Note:The board's power supply must be electrically insulated before connecting any cables that link the PC to the board, such as the STX-RLINK or a serial cable. Otherwise an earth/ground loop would occur, as there is no insulation board.2.2 Intended useThe STM8/128-MCKIT starter kit is made of components designed for demonstrationpurposes and must not be included in electrical installations or machinery. Instructions about the setup and use of the STM8/128-MCKIT starter kit must be strictly observed.2.3 OperationAfter disconnecting the board from the voltage supply, several parts and power terminals must not be touched immediately because of possible energized capacitors or hot surfaces.2.4 Important notice to usersWhile every effort has been made to ensure the accuracy of all information in this document, STMicroelectronics assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document, its updates, supplements, or special editions, whether such errors are omissions or statements resulting from negligence, accident, or any other cause.Doc ID 15774 Rev 25/223 STM8/128-MCKIT hardware setupThis section provides a detailed description of the components included in the STM8/128-MCKIT starter kit. It also describes the default settings for a brushless DC motor (BLDC), and explains how to change them to use an AC induction motor.3.1 Package checklistFigure 1 shows the layout and connections of the major components of the STM8/128-MCKIT starter kit.Figure 1.STM8/128-MCKIT layout3.1.1 HardwareThe STM8/128-MCKIT starter kit includes the following items:●The MB459B power board (1): This board is described in the MB459B power boarduser manual (UM0379) provided on the STM8/128-MCKIT CD-ROM.●The MB631 STM8 evaluation board (2): This board is described in the STM8/128-EVAL user manual (UM0482) provided on the STM8/128-MCKIT CD-ROM.●An MB843 BLDC daughterboard (3): This board is described in the chapter BLDC daughterboard MB843. The purpose of the BLDC daughterboard is to implement the BEMF detecting network and the current regulation/limitation network.●An STX-RLink USB–SWIM debugger (4): The RAISONANCE STX-RLink USB-JTAG debugger allows you to reprogram the Flash memory of the STM8 microcontroller and to debug the software before using the application in standalone mode.●A 24V DC SHINANO BLDC motor (5): The motor included in the STM8/128-MCKIT starter kit is a SHINANO inner rotor type 4-pole brushless DC motor with Hall sensor and encoder. For electrical specifications and mechanical dimensions, refer to the SHINANO datasheets on the STM8/128-MCKIT CD-ROM.●An auxiliary power supply block TR30R (6)●The following cables:–Motor cables (7)– A motor connector HE10 34-pin cable (8)– A USB cable (9)–One SWIM cable and the related adapter (10)–An auxiliary connector for BLDC sensorless HE10 20-pin cable (11)● A bag with three 0.1ohm resistors is included to configure the MB459B board toincrease the maximum motor nominal current level up to 5 amps.●The STM3210B-MCKIT CD-ROM.3.1.2 SoftwareThe STM8/128-MCKIT CD-ROM includes the BLDC and AC induction motor softwarelibraries.When you receive the STM8/128-MCKIT, the STM8 microcontroller is programmed bydefault with the BLDC sensorless firmware.3.1.3 DocumentationThe STM8/128-MCKIT CD-ROM also includes the following product documentation in PDFformat:●STM8Sxxx access line and performance line datasheets●STM8Sxxx reference manual●STM8/128-MCKIT motor control kit user manual (UM0709, the present manual)●STM8S three-phase BLDC software library v1.0 user manual (UM0708)●STM8S three-phase AC induction motor software library v1.0 user manual (UM0712)●STM8/128-EVAL user manual (UM0482)●MB459B power board user manual (UM0379)●SHINANO motor datasheet.In the box with the STM8/128-MCKIT, there is also:●The MCD product finder●Product flyers and brochures●The MCD miniROM● A guarantee record cardprovidednot3.1.4 ComponentsThe STM8/128-MCKIT starter kit does not include:● A power supply: To use the STM8/128-MCKIT starter kit with the provided BLDC motor, you need a 24V-3A minimum power supply.●An AC induction motor: The STM8/128-MCKIT can operate with an AC induction motor. The provided firmware is designed to operate with the SELNI induction motor. It can be ordered as an accessory with the following order code: ST7MC-MOT/IND. To use the STM8/128-MCKIT starter kit with the Selni AC induction motor, you need a 42V DC or32Veff AC power supply (polarity not important, earth connection recommended).6/22 Doc ID 15774 Rev 23.2 Brushless DC motor (default)The brushless DC motor (BLDC) is a rotating electric machine where the stator is a classic 3-phase stator like that of an induction motor and the rotor has surface-mounted permanent magnets. In this respect, the BLDC motor is equivalent to an induction motor where the air gap magnetic field is produced by a permanent magnet. The use of a permanent magnet to generate a substantial air gap magnetic flux makes it possible to design highly efficient motors.A BLDC motor is driven by trapezoidal currents coupled with the given rotor position. The generated stator flux together with the rotor flux, which is generated by a rotor magnet, defines the torque, and thus speed, of the motor. The trapezoidal currents have to be applied to the 3-phase winding system in a way that angle between the stator flux and the rotor flux is kept close to 90° to get the maximum generated torque. T o meet this criterion, the motor requires electronic control for proper operation.For a common 3-phase BLDC motor, a standard 3-phase power stage is used.The same power stage is used for AC induction and BLDC motors. The power stage utilizes six power transistors with independent switching. The power transistors are switched in the also called six step operation.3.3 AC induction motorThe AC induction motor is a rotating electric machine designed to operate from a 3-phase source of alternating voltage.The stator is a classic 3-phase stator with the winding displaced by 120°.The most common type of induction motor has a squirrel cage rotor in which aluminum conductors or bars are shorted together at both ends of the rotor by cast aluminum end rings. When three currents flow through the three symmetrically placed windings, a sinusoidally distributed air gap flux generating the rotor current is produced. The interaction of the sinusoidally distributed air gap flux and induced rotor currents produces a torque on the rotor. The mechanical angular velocity of the rotor is lower then the angular velocity of the flux wave by so called slip velocity.In adjustable speed applications, AC induction motors are powered by inverters. The inverter converts DC power to AC power at the required frequency and amplitude.The inverter consists of three half-bridge units where the upper and lower switches are controlled complementarily. As the power device's turn-off time is longer than its turn-on time, some dead-time must be inserted between the turn-off of one transistor of the half bridge and turn-on of its complementary device.The output voltage is mostly created by a pulse width modulation (PWM) technique. The 3-phase voltage waves are shifted 120° to each other and thus a 3-phase motor can be supplied.Doc ID 15774 Rev 27/223.4 Hardware configuration for a BLDC motor (default)This section describes the procedure for operating the STM8/128-MCKIT with a BLDC motor.The default settings that are present on the STM8 evaluation board and on the power board when you receive the STM8/128-MCKIT starter kit are intended for a BLDC motor.When you are using the BLDC motor, follow these steps:1.Verify that all the jumpers on the power board (MB459B) are in their default position. Refer to Table1: MB459B power board jumper settings for a BLDC motor (default) for information on jumper settings, and if necessary, to the MB459B power board User Manual for the location of the jumpers on the board.2. Verify that all of the STM8 evaluation board (MB631) jumpers are in their default position. Refer to T able2: STM8 evaluation board jumper settings for a BLDC motor (default) for information on jumper settings, and if necessary, to the STM8/128-EVAL board User Manual for the location of jumpers on the board.3. Verify that all of the BLDC daughterboard (MB843) jumpers are in their default position. Refer to Table3: BLDC daughterboard MB843 jumper settings for a BLDC motor (default) for information on jumper settings.4. Verify that the BLDC daughterboard (MB843) is fitted on top of STM8/128-EVAL board through the CN1 and CN5 connectors (see Figure2).5. Verify that the adapter board (MB844) is fitted on top of power board (MB459B) through the J4 connector (see Figure2).6. Verify that the BLDC daughterboard (MB843) and the adapter board (MB844) are connected with the provided 20-pin auxiliary connector cable for BLDC sensorless (see Figure2).7. Verify that the BLDC motor cables are correctly plugged into the power board's MOTOR connectors (J5 and J8). The power board (MB459B), the STM8 evaluation board(MB631), and the provided BLDC motor are already assembled together over a metal support when you receive the kit.8. Power up the STM8 evaluation board with the auxiliary power supply block TR30R.9. Power up the power board by connecting the output terminals of your DC power supply to the MAINS connector (J3). The provided voltage must be 24V DC and your power supply must be able to provide a current of 3A.The STM8/128-MCKIT is now ready to run with the BLDC motor.8/22 Doc ID 15774 Rev 2Doc ID 15774 Rev 29/22Figure 2.STM8/128-MCKIT assembly Caution:Before supplying the board, double check proper connections, make sure that there are no metal parts on, below or around the PCB and that there are no undesired earth/ground loops due to measuring equipment such as an oscilloscope.Caution:Be sure that the STM8/128-EVAL used is marked with (MB631/2) or with (MB631); in the second case you must also check the required modifications reported in the Appendix Section A.1: Modification of MB631 for BLDC drive .Note:Not all the default positions of the jumper are coincident with the silk-screen printing. The jumper settings that are different from the silk-screen printing are highlighted in the Table 1: MB459B power board jumper settings for a BLDC motor (default) and Table 2: STM8 evaluation board jumper settings for a BLDC motor (default).Table 1.MB459B power board jumper settings for a BLDC motor (default)Jumper Setting for the SHINANO 24VBLDC motor providedSetting for a high-voltageBLDC motorW1“<35V only”“<35V only” or “HIGH VOLTAGE”W4Not presentW5PresentW6PresentW7Not presentW8Not presentW9Not presentW10Present and soldered on reverse position of silk-screen printingW11PresentW12Not presentW13Not presentW14PresentW15Not presentW16Present and set on reverse position of silk-screen printingW17Not presentW18Not presentW19Not presentTable 2.STM8 evaluation board jumper settings for a BLDC motor (default) Jumper SettingJP1Present between 1-2JP2PresentJP3Set to PSU position to supply the STM8 evaluation board through the jack (CN6) And set to DTB position to supply the BLDC daughterboard (MB843)JP4PresentJP5Not presentJP6Present between 1-2 JP7Not presentJP8PresentJP9Not presentJP10PresentJP11Present between 2-3 JP12Present between 1-2JP13Present between 1-2 to configure the HW for the DAC functionality Or present between 2-3 to configure the HW for the dissipative brakeJP14Not present10/22 Doc ID 15774 Rev 2Table 3.BLDC daughterboard MB843 jumper settings for a BLDC motor (default)Jumper SettingJ1Present and set on default position of silk-screen printingJ2Present and set on default position of silk-screen printingJ3Present and set on default position of silk-screen printingJ4Present and set on default position of silk-screen printingJ5Present and set on default position of silk-screen printing (SENSORLESS)J13Present and set on default position of silk-screen printing (VARIABLE)3.5 Hardware configuration for an AC induction motorThis section describes the procedure for operating the STM8/128-MCKIT with an ACinduction motor. Y ou must change the default settings that are present on the STM8evaluation board and on the power board when you receive the STM8/128-MCKIT starter kitbecause they are intended for a PMSM motor. When you are running the AC inductionmotor, follow these steps:1.Remove the BLDC daughterboard (MB843) from the STM8/128-EVAL evaluation board(MB631).2. Remove the adapter board (MB844) from the power board (MB459B).3. Change the jumpers on the power board (MB459B) to the settings required for runningwith an AC induction motor. Refer to Table4: MB459B power board jumper settings foran AC induction motor for information on jumper settings, and if necessary, to theMB459B power board user manual for the location of the jumpers on the board.4. If the peak value of the motor phase current should be greater than 3 ampere, replacethe R4 shunt resistor on the power board (MB459B) by the 0.1ohm resistor included inthe bag delivered with the kit.5. Verify that the jumpers on the STM8/128-EVAL evaluation board (MB631) are in theirdefault position. Refer to T able5: STM8 eval board jumper settings for an AC inductionmotor for information on jumper settings, and if necessary, to the STM8/128-EVALboard user manual for the location of jumpers on the board.6. Disconnect the PMSM motor from the power board's MOTOR connectors (J5 and J8).The power board (MB459B), the STM8/128-EVAL evaluation board (MB631), and theprovided PMSM motor are already assembled together over a metal support when youreceive the kit.7. Connect your AC induction motor to the power board by connecting the three phases tothe J5 connector, and the tachometer cables to the J6 connector.8. Power up STM8/128-EVAL evaluation board with auxiliary power supply block TR30R.9. Power up the power board by connecting the output terminals of your DC power supplyto the MAINS connector (J3). The provided voltage must not be higher than 42V DC or32Veff AC (GND recommended).After re-programming the STM8S microcontroller with the ACIM motor control firmware, theSTM8/128-EVAL is now ready to run with your AC induction motor.Caution:Before supplying the board, double check proper connections, make sure that there are no metal parts on, below or around the PCB and that there are no undesired earth/groundloops due to measuring equipment such as an oscilloscope.Doc ID 15774 Rev 211/22Table 4.MB459B power board jumper settings for an AC induction motorJumper Settings for AC induction motor with tachometer feedbackW1“<35V only” or “HIGH VOLTAGE”W4Not presentW5PresentW6PresentW7Not presentW8Not presentW9Not presentW10Present and soldered on reverse position of silk-screen printingW11PresentW12PresentW13Not presentW14Not PresentW15Not presentW16Present and set on reverse position of silk-screen printingW17Not presentW18Not presentW19Not present12/22 Doc ID 15774 Rev 2Doc ID 15774 Rev 213/22Note:The jumper settings that are different from the silk-screen printing are highlighted in the Table 4: MB459B power board jumper settings for an AC induction motor and Table 5: STM8 eval board jumper settings for an AC induction motor .3.6 Power supply connectionsJ1 connector of power board (MB459B) provides a completely independent control of the DC bus voltage (power) and the +15V supply for the gate drivers. This is interesting for development purposes, when one needs to smoothly increase the motor's operating voltage from zero, while the gate drivers are operating with their nominal supply.When supplying the power stage with an external +15V power supply using the J1 connector, special care must be taken that:1. No jumpers are connected on jumper W1.2. The short circuit that replaces the D3 diode footprint must be open. This is to avoid having reverse current in the L7815 voltage regulator.Table 5.STM8 eval board jumper settings for an AC induction motorJumper Setting JP1Present between 1-2JP2PresentJP3Set to PSU position to supply the STM8 evaluation board through the jack (CN6)JP4Present JP5Not present JP6Present between 1-2JP7Not present JP8PresentJP9Present, if required to filter the noise from the tachogenerator signalJP10Present JP11Present between 2-3JP12Present between 1-2JP13Present between 1-2 to configure the HW for the DAC functionality Or present between 2-3 to configure the HW for the dissipative brakeJP14Not presentBLDC daughterboard MB843UM0709 4 BLDC daughterboard MB8434.1 FeaturesThe BLDC daughterboard MB843 is an extension of the STM8/128-EVAL evaluation boardMB631 required to implement the BLDC drive.It includes:● A BEMF detection network,● A current regulation/regulation network,● A neutral voltage reconstruction network.The board has been designed to be compatible with the voltage level applicable to thepower board MB459B (“<35V only” or “HIGH VOLTAGE”).The BEMF detection network allows the following strategies of BEMF sampling:●BEMF sampling during off time (ST patented method),●BEMF sampling during on time,●Dynamic method based on the duty cycle applied.For more details see the STM8S three-phase BLDC software library v1.0 (UM0708). Note:For applications that require a limited range of motor speed, for example if the ratio between maximum and minimum speed is below 4, it is possible to replace the BEMF detectingnetwork with a simple resistive voltage divider.The current regulation/regulation network is used to adapt the signal to perform the currentcontrol in the BLDC drive. Control is made possible by a special characteristic of the STM8microcontroller. See for more details the STM8S three-phase BLDC software library v1.0(UM0708).The neutral voltage reconstruction network is used to reconstruct the neutral voltage (alsocalled star point) of the motor in order to perform the BEMF sampling during the on time.Two strategies of the neutral point reconstruction are implemented by the board:●Bus voltage partitioning,●Star point reconstruction starting from the motor phases.Note:It is possible to configure either method (see Section4.3: Jumper configuration) but only the first is implemented by the firmware.Note:Even if bus partitioning is also performed in the power board MB459B, the partitioning performed by the MB843 makes use of a voltage partitioning that allows a better resolutionin the neutral voltage reconstruction.The board is easily configurable to run the BLDC drive in sensorless mode, or to use theHall sensors as position/speed feedback.14/22 Doc ID 15774 Rev 2UM0709BLDC daughterboard MB843Doc ID 15774 Rev 215/224.2 LayoutFigure 3.BLDC daughterboard MB843 layout1.J8-J12 connector for the 20-pin auxiliary connector cable for BLDC sensorless. This is used to provide the three motor phase voltage signals and the bus voltage signal to the daughterboard MB843. 2.Auxiliary phase voltage connector CN2 (optional input). It can be used alternatively to the J8-J12 connecting directly the motor phase voltage signals using custom wire connections. Using that connector you can tighten the cables with a screwdriverconnecting motor phase A in the pin 1, motor phase B in the pin 2, motor phase C in pin 3, the DC bus voltage in pin 4 and the ground in pin 5.3. Jumper J5 sets sensorless or sensored configuration.4. Jumper J13 sets the current reference or limitation.5.Potentiometer P1 sets the fixed current limitation.6. Jumper J47. Jumper J38. Jumper J29. Jumper J1BLDC daughterboard MB843UM070916/22 Doc ID 15774 Rev 24.3 Jumper configurationTable 6 describes the jumpers.Table 6.BLDC daughterboard MB843 jumper settingsJumperSettingDescriptionJ1Selects the motor neutral voltage reconstruction networkSet to default position of silk-screen printingBus voltage partitioningSet to reverse position of silk-screen printingStar point reconstruction starting from the motor phasesJ2,J3,J4Configures the BEMF attenuation networkSet to default position of silk-screen printingThree GPIOs perform the dynamic attenuation of the BEMFsignal this allows the sampling during off time, during ontime and the dynamic selection of the two methods.Set to reverse position ofsilk-screen printing Fixes the BEMF signals attenuation and frees the three GPIOsNot present。
汇川技术IS 系列伺服选型手册
深圳市汇川技术股份有限公司Shenzhen lnovance Technology Co., Ltd.地址：深圳市宝安区宝城70区留仙二路鸿威工业区E栋 总机：(0755)2979 9595传真：(0755)2961 9897 客服：400-777-1260 苏州汇川技术有限公司Suzhou lnovance Technology Co., Ltd.地址：苏州市吴中区越溪友翔路16号 总机：(0512)6637 6666 传真：(0512)6285 6720 客服：400-777-1260 IS620系列伺服本公司通过ISO9001TUV Rheinland Group销售服务联络地址V5.1进取 永不止步Forward, Always Progressing变频器 | 伺服系统 | PLC | 机器人 | 轨道交通 | 新能源巴西长春汇通光电技术有限公司杭州汇坤控制技术有限公司欧洲技术中心汇川技术（印度）有限公司服务网络公司总部设在深圳，同时在苏州、香港、杭州等地建立多家子公司 覆盖全国的67个办事处超过400位一线销售及服务人员 240家授权代理商 128家全国联保中心 8个库存中心保证了响应客户需求的及时性。
汇川技术伺服驱动系统平台公司简介深圳市汇川技术股份有限公司（300124）专注于工业自动化驱动与控制产品的研发、生产和销售，定位服务于中高端设备制造商，以拥有自主知识产权的工业自动化控制技术为基础，以快速为客户提供个性化的解决方案为主要经营模式，实现企业价值与客户价值共同成长。
主要产品有低压变频器、高压变频器、一体化及专机、伺服系统、PLC、HMI、永磁同步电机、电动汽车电机控制器、轨道交通牵引系统等；重点布局智能制造、新能源、工业互联网三大领域，产品广泛应用于电梯、起重、机床、金属制品、电线电缆、塑胶、印刷包装、纺织化纤、建材、冶金、煤矿、市政、汽车、轨道交通等行业。
公司在低压变频器市场的占有率在国产品牌厂商中排名第一，其中一体化及专机产品在多个细分行业处于业内首创或领先地位。
维宏 WISE（维智）主轴驱动器及电机 选型手册说明书
WISE Spindle Drive and Motor Selection Guide2st EditionWISE（维智）主轴驱动器及电机选型手册上海维宏电子科技股份有限公司Weihong Electronic Technology Co., Ltd.The copyright of this manual belongs to Weihong Electronic Technology Co., Ltd. (hereinafter referred to as Weihong Company). This manual and any image, table, data or other information contained in this manual may not be reproduced, transferred, or translated without any prior written permission of Weihong Company.The information contained in this manual is constantly being updated. You can login to the official website of Weihong Company to download the latest PDF edition for free.本手册版权属于上海维宏电子科技股份有限公司所有。
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上海维宏电子科技股份有限公司SHANGHAI WEIHONG ELECTRONIC TECHNOLOGY CO., LTD.前言手册简介本手册主要介绍了维智主轴驱动器，对WSMS、SVM、SE系列电机的型号、规格、尺寸等信息进行说明，为用户在进行电机选型时提供参考。
ST系列系列说明书
1.ST系列螺柱焊机的设备简介、主要特点及应用行业1.1 设备简介电弧式螺柱焊机是利用弧焊整流器作为焊接电源提供持续的焊接电流，使用焊枪的提升机构完成提升、引弧、下压、冷却，满足快速、牢固的焊接螺柱体工件的设备。
该设备焊接时间可以在5ms-990ms内准确调节。
通常使用瓷环或者氩气作为保护。
它是一种具有高可靠性、高效率的现代螺柱紧固工艺，替代了钻孔焊接或者环周焊接大直径圆柱体的传统工艺，广泛应用于锅炉制造、造船、钢构、化工等行业。
基本原理：电网电压经过变压器降压整流后，通过控制电路，将电流送到专用焊枪，将装夹在焊枪上的栓钉快速地焊到工件上。
焊接过程由控制电路控制焊枪自动进行。
1.2 产品特点●体积小，结构紧凑；●可控整流，高暂载率设计，主电路无触点控制，可靠性高；●焊枪下降缓冲可调，减少飞溅，提高焊接可靠性；●具有基本的故障诊断功能，并能在面板上作出相应的显示；●内部元件科学合理布局，散热效率高，持续工作时间长；1.3 应用行业主要用于钢结构、桥梁、锅炉制造、造船、机车车辆，变压器等行业螺柱及栓钉焊接。
2.ST系列电弧螺柱焊机的选型说明2.1 型号说明S T - ×××手提式电弧螺柱焊机2.2 技术参数表一：ST系列电弧螺柱焊机的技术参数3.焊机结构及主要功能介绍3.1主机介绍及操作方法图一：前面板图二：后盖板○1电源启动按钮：持续按此按钮．．电源才能启动。
若按下时间不足，．．．．．．1s．．以上电源将不能启动。
○2电源关闭按钮：持续按此按钮．．电源才能关闭。
若按下时间不足，．．．．．．1s．．以上电源将不能关闭。
○3保护气体时间调节旋钮：顺时针旋转此按钮，联动开关触点闭合，即可使用气体保护，旋转角度越大，气体导前时间越长，逆时针旋转到底，就不能使用气体保护。
气体导前时间---表示按焊接启动按钮（即枪开关）后，保护气体先导通一段时间后，设备才进入焊接过程。
○4控制线的连接端口：连接焊枪组件的控制线端口。
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目录
概述：.......................................................................................................................................................... 1
3. 17 位单圈 12 位多圈机械式绝对编码器（M1）插座（15 芯；80、90 系列通用；110、130、 150、180 系列通用）
sensor SLA May sensor SLB Maz 屏
信号 +5V 0V A+ B+ A- B-
+S5V Dat+ Clk+
S0v
Dat- Clk- 蔽
座芯 编号 2 3 4 5 7 8 10 11 12 13 14 15 1
产品特点：
1. 全封闭式结构，外形美观，结构紧凑。 2. 低谐波、低齿槽转矩、反电势正弦性好，采用正弦波电流驱动，低速特性好。 3. 采用高性能永磁材料和高牌号冷轧硅钢片，功率密度高，过载能力强。 4. 采用优化电磁设计，电磁噪声低、运行平稳、效率高，可长期保持优良工作状态。 5. 采用优化惯量设计，电机响应速度快，适合各种场合应用尤其数控机床进给驱动。 6. 整机 IP66 防护等级，电机可在-15℃～40℃环境温度和粉尘油雾环境下可靠使用。 7. 采用高速、高精度光电编码器，与高性能驱动单元配合可实现高精度的速度和位置控制。 8. 配备的航空插头可以 360 度旋转，可根据产品的使用空间自行决定航空插头的出线方向。
3000
3600
3600
3600
2.8
3.0
4.2
5.6
6.0
8.4
振动
振动速度 1.8mm/s 以下
无制动闸
148
LL
有制动闸
196
175
204
223
264
转速转矩特性图
图1
图2
图3
4
ST 系列伺服电机
2. 90 系列交流伺服电机规格与尺寸：
型号
额定功率（kW）
额定转矩（N.m）
瞬时最大转矩（N.m）
额定转速（rpm）
最高转速（rpm）
额定电流（A）
瞬时最大电流（A）
交流伺服电机转速转矩特性： .................................................................................................................11
ST 系列伺服电机
1
概述：
4. 17 位单圈 16 位多圈电池式绝对编码器（M）插座（7 芯；110、130、150、180 系列通 用；80、90 系列电机通用 15 芯插座只是仅用 7 芯，其排线序号同 7 芯插座）
信号
+5V
0V
SD+
SD-
E+
座芯
编号
7
5
6
4
3
E-
屏蔽
2
1
5. 失电制动器插座（3 芯：80、90、110、130、150、180 系列通用）
1. 动力插座 （4 芯） ............................................................................................................................. 1 2. 增量式编码器插座 （15 芯） ........................................................................................................... 2 3. 丹纳赫绝对式编码器插座（15 芯） ................................................................................................. 2 4. 多摩川绝对式编码器插座（7 芯） ................................................................................................... 2 5. 失电制动器插座（3 芯） ................................................................................................................... 2
转子惯量（Kg.cm^2）
重量（Kg）（不含制动器）
极对数
适配驱动器工作电压（VAC）
绝缘等级
防护等级
安装方式
温度
环境
湿度 空气
振动
无制动闸 LL
有制动闸
转速转矩特性图
90ST
90ST
90ST
M01530
M02430
M03530
0.45
0.75
1.1
1.5
2.4
3.5
3.0
4.8
7.0
3000
3000
机座配置失电制动器的参数： .................................................................................................................. 2
伺服电机的规格与尺寸 .............................................................................................................................. 3
型号
80ST M01330
80ST M02430
80ST M03330
额定功率（kW）
0.4
0.75
1.0
额定转矩（N.m）
1.3
2.4
3.3
瞬时最大转矩（N.m）
2.6
4.8
6.6
额定转速（rpm）
3000
3000
3000
最高转速（rpm）
3600
3600
3600
额定电流（A）
2.6
4.0
4.5
瞬时最大电流（A）
产品特点：.................................................................................................................................................. 1
5.2
8.0
9.0
转子惯量（Kg.cm^2）
1.18
1.59
2.03
重量（Kg）（不含制动器）
2.7
3.4
4.2
极对数
4
适配驱动器工作电压（VAC）
220
绝缘等级
F
防护等级
IP66
安装方式
法兰安装
温度
-15～40℃（无冰冻），保存温度：-15～70℃（无冰冻）
环境
湿度 空气
80%RH 以下（无结露），保存湿度：90%RH 以下（无结露） 室内（无直射阳光），无腐蚀性和易燃气体，无油雾和尘埃
信号
DC24V（无极性）
地
座芯编号
1
2
3
机座配置失电制动器的参数：
机座尺寸系列
额定扭矩
额定电压
额定电流
相应电机增加重量
80、90 机座 110 机座 130 机座 150 机座 180 机座
4Nm 8Nm 8、16Nm
30Nm 30、50Nm
DC24V DC24V DC24V DC24V DC24V
伺服电机型号说明：.................................................................................................................................. 1
伺服电机的接线方式： .............................................................................................................................. 1
伺服电机的接线方式：
1. 动力插座 （4 芯；80、90 系列通用；110、130、150 系列通用；180 系列专用）
绕组引线
U
V
W
地
座芯编号
2
3
4
1
2
ST 系列伺服电机
2. 增量式编码器（F）插座 （15 芯；80、90 系列通用；110、130、150、180 系列通用）
屏 信号 +5V 0V A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- 蔽 座芯 编号 2 3 4 5 6 7 8 9 10 11 1.9A 0.9、1.2A