富士伺服驱动器Alpha5Smartii用户手册详解

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本手册详细介绍了富士伺服驱动器，特别是针对其ALPHA5Smartii系列。它是一份全面的用户指南，由1册组成，提供了富士AC伺服电机（GYS/GYC/GYG系列）和伺服放大器（RYH□□□F5-△△△2）的使用说明。手册针对的机器型号包括GY*□□□*5-2(−B)的电机和相应的伺服放大器，其中方框(*)代表可变字符或无标记。章节结构丰富，从序言开始，依次覆盖了设置、配线、运行、参数调整、触摸屏操作、保养和检查、规格、特性、外围设备、绝对位置系统、定位数据、RS485通信、PC加载器等详细内容。用户需要注意，手册可能存在与实际产品不一致的地方，因为产品可能有所改良，且更新时不一定会提前通知。对于涉及人身安全关键应用（如航空控制、交通管制等），使用者应咨询公司以确保正确使用。安全注意事项是手册的重要部分，强调了在操作伺服电机和伺服放大器时必须遵守的规则，以防止误操作可能导致的性能降低或潜在风险。此外，手册还提供了一些图标说明，这些图标用来提示可能需要额外参考的信息，确保用户在操作过程中能够充分利用产品的功能。本手册是一份实用的工具，为富士伺服驱动器的安装、配置、维护和故障排查提供了详尽的指导，帮助用户最大限度地利用伺服系统的性能和安全性。

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10.2.1 主电路部电线规格 ········································································ 10-4

10.2.2 编码器配线用电缆 ········································································ 10-5

10.2.3 伺服放大器输入电流的计算方法··················································· 10-6

10.2.4 伺服放大器的外围设备选定条件··················································· 10-7

10.3 MCCB/ELCB（配线用断路器／漏电断路器）····································· 10-8

10.4 电磁接触器······················································································· 10-10

10.5 浪涌吸收器······················································································· 10-11

10.6 电源滤波器······················································································· 10-13

10.7 AC电抗器·························································································· 10-15

10.8 外部再生电阻器················································································ 10-18

10.9 选件·································································································· 10-21

指令序列输入输出用选件电缆 ················································································· 10-21

编码器配线用选件电缆 (1)······················································································ 10-22

编码器配线用选件电缆 (2)······················································································ 10-23

伺服电机动力配线用选件电缆 ················································································· 10-24

伺服电机制动器配线用选件电缆·············································································· 10-25

指令序列输入输出用连接器组件·············································································· 10-26

编码器配线用连接器组件（放大器侧）··································································· 10-26

编码器配线用连接器组件（电机侧） ······································································ 10-27

电源配线用动力&电机动力配线用连接器组件（放大器侧） ··································· 10-28

电源配线用动力连接器组件（放大器侧） ······························································· 10-28

直流电路用连接器组件（放大器侧） ······································································ 10-29

直流电路用连接器组件（放大器侧）・・・附属于放大器。 ·································· 10-29

电机动力配线用连接器组件（放大器侧） ······························································· 10-30

电机动力配线用连接器组件（电机侧）··································································· 10-30

电机动力配线用连接器组件（电机侧）··································································· 10-31

电机动力配线用连接器组件（电机侧：带制动） ···················································· 10-31

电机动力配线用连接器组件（电机侧）··································································· 10-32

电机动力配线用连接器组件（电机侧：带制动） ···················································· 10-32

制动器配线用连接器组件（电机侧） ······································································ 10-33

电池 (CN5)·············································································································· 10-33

电池（电池）+ 电池盒···························································································· 10-33

监控 (CN4)·············································································································· 10-34

外部再生电阻器 (1)································································································· 10-34

外部再生电阻器 (2)································································································· 10-35

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第 11 章绝对位置系统 11-1

11.1 规格···································································································· 11-2

11.1.1 规格一览 ······················································································ 11-2

11.1.2 注意事项 ······················································································ 11-2

11.2 电池的安装、更换步骤 ······································································· 11-3

11.2.1 电池的安装步骤［框1］·························································· 11-3

11.2.2 电池的安装步骤［框2］·························································· 11-4

11.2.3 电池的更换步骤············································································ 11-4

11.3 起动步骤 ···························································································· 11-5

11.4 电池警告 ···························································································· 11-6

11.5 电池使用寿命的计算··········································································· 11-7

第 12 章定位数据 12-1

12.1 运行模式 ···························································································· 12-2

12.1.1 运行方法 ······················································································ 12-2

12.1.2 运行模式选择 ··············································································· 12-4

12.2 设定内容 ···························································································· 12-5

12.2.1 定位数据规格 ··············································································· 12-5

12.2.1.1 位置数据（停止位置） ······························································ 12-6

PA1_06 电子齿轮分子0、PA1_07 电子齿轮分母 ················································ 12-6

PA2_01 位置数据小数点位置 ················································································· 12-6

12.2.1.2 速度数据（电机轴转速）··························································· 12-6

12.2.1.3 停止定时（停止时间） ······························································ 12-7

12.2.1.4 加速时间、减速时间·································································· 12-7

12.2.1.5 状态（指令方式、步进模式） ··················································· 12-8

12.2.2 立即值数据规格·········································································· 12-11

12.3 起动方法 ·························································································· 12-12

12.4 设定变更 ·························································································· 12-14

12.5 响应时间 ·························································································· 12-14

第 13 章 RS485 通信 13-1

13.1 Modbus RTU通信 ··············································································· 13-2

13.1.1 设定伺服放大器············································································ 13-2

13.1.2 通信规格 ······················································································ 13-4

13.1.3 传输协议 ······················································································ 13-5

1. 信息种类·········································································································· 13-5

2. 信息区域·········································································································· 13-5

3. 功能代码 (FC)································································································· 13-6

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地址 ··············································································································· 13-14

5. 数据格式········································································································ 13-17

6. 例外响应········································································································ 13-20

7. CRC-16 ········································································································· 13-22

8. 通信方式········································································································ 13-25

13.1.4 与上位控制器的配线示例 ··························································· 13-26

13.1.5 通信步骤 ···················································································· 13-27

1. 通信的开始 ···································································································· 13-27

2. 通信时机········································································································ 13-27

3. 错误处理········································································································ 13-28

4. 通信超时········································································································ 13-29

5. 通信示例········································································································ 13-30

13.2 PC加载器通信··················································································· 13-33

13.2.1 局号···························································································· 13-33

13.2.2 通信规格 ···················································································· 13-33

13.2.3 传输协议 ···················································································· 13-34

13.2.4 传输数据说明 ············································································· 13-35

13.2.5 状态信息 ···················································································· 13-35

13.2.6 指令一览 ···················································································· 13-36

13.2.7 指令传输规格 ············································································· 13-36

13.2.8 通信开始步骤 ············································································· 13-37

13.2.9 通常的通信步骤·········································································· 13-37

13.2.10 协议等级的错误········································································ 13-38

13.2.11 配线 (CN3) ·············································································· 13-39

13.2.12 通信·························································································· 13-41

第 14 章 PC 加载器 14-1

14.1 运行环境 ···························································································· 14-2

14.2 安装方法 ···························································································· 14-2

14.3 通信设定 ···························································································· 14-6

14.4 功能一览 ·························································································· 14-15

14.5 设置时的活用方法 ············································································ 14-16

14.6 功能详细说明 ··················································································· 14-17

14.6.1 实时扫描 ···················································································· 14-17

14.6.2 履历扫描 ···················································································· 14-19

14.6.3 监控器 ························································································ 14-22

14.6.4 参数编辑 ···················································································· 14-23

14.6.5 定位数据编辑 ············································································· 14-25

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14.6.6 试运行 ························································································ 14-26

14.6.7 伺服分析 ···················································································· 14-33

14.6.8 伺服电机不运行时的诊断 ··························································· 14-34

14.6.9 语言切换 ···················································································· 14-35

14.7 伺服操作系统 ··················································································· 14-36

14.7.1 配线···························································································· 14-36

14.7.2 伺服操作系统用PC加载器 ·························································· 14-36

14.7.3 简单菜单 ···················································································· 14-37

第 15 章附录 15-1

15.1 状态显示框图 ····················································································· 15-2

15.2 主电路框图························································································· 15-3

15.3 控制电路框图 ····················································································· 15-5

15.4 参数一览 ···························································································· 15-6

15.5 功率选定计算 ··················································································· 15-14

15.5.1 机械系统的种类·········································································· 15-14

15.5.2 功率选定计算 ············································································· 15-16

15.5.3 功率选定计算示例 ······································································ 15-24

15.6 替换资料（对于FALDIC-W）··························································· 15-30

15.7 修订记录 ·························································································· 15-38

15.8 产品保障 ·························································································· 15-39

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