CD1-k系列CANopen总线驱动器安装手册
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CD1-k系列CANopen总线驱动器安装手册
文本预览
CD1-k – Installation Guide
CD1-k 系列
安装手册
CANopen
总线驱动器
INFRANOR®
CD1-k 1CD1-k- Installation guide
警 告
!
这是描述伺服驱动器系列的通用手册，本系的列驱动器用来驱动交流无刷正弦伺服电机.
请参见 CD1-k User Guide 使用手册，了解驱动器的操作方法(调试, 配置, ...).
关于 CANopen 通信, 见手册 CD1-k – CANopen Communication Profile通讯协议.
请在开始使用驱动器前，必须详细阅读手册，以了解关于本产品储存，使用，调试及技术细节等相关情况。
维护工作应当由非常熟练的技术人员来做，需要对电气和各种伺服系统(EN 60204-1 standard)非常了解且使用正
确的测试设备。
与标准保持一致，只有按照本驱动手册推荐的条目安装才会获得"CE"认证. 如果推荐的要求没有遵守，接线出现问
题是用户的责任.
即 使是断电以后, 马上与任何电气部分的接触, 都可以导致生理损害.
断 电后, 接触驱动器前至少等待 5 分钟(几百伏的残余电会保持几分钟).
E SD 信息 (释放静电)
IN FRANOR 驱动器设计时考虑了周全的静电保护. 然而, 一些部件是非常敏感的, 如果驱动器没有正确
的存储和使用可能会导致损坏.
存储
- 驱动器必须存储在原始包装中.
- 从包装中取出时, 必须以它一侧水平金属表面且能释放静电或电中性放置, 以防止静电.
- 避免驱动接头和带静电的材质(塑料膜, 聚脂, 涤纶, 地毯…)接触.
操作
- 如果没有有效的保护设备（放静电手镯或鞋）, 驱动器要通过金属壳接地.
- 不要触碰接头.
销毁
为了遵守 2002/96/EC 欧洲议会及理事会1.27 2003 废弃电子电气设备(WEEE) 废弃协议, 所有
INFRANOR 设备有销毁符号, 标准按照附录 IV 2002/96/EC 指标.
此符号表示 INFRANOR 设备必须有选则性的处理销毁, 不能当作标准废弃物处理.
对于不适当的使用或者描述造成的物理或实质性的损害, INFRANOR不承担任何责任.
进行手册中没有指出的任何涉及到其他权益的条目, 将立即取消保修条款.
Infranor 保留在不通告的情况下对手册中内容进行更改的权利.
© INFRANOR, August 2008. 版权所有
版本号: 5.7
2
CD1-k- Installation guideCD1-k – Installation Guide
目录
PAGE
目录.........................................................................................................................................................................3
第 1章 – 概况.........................................................................................................................................................5
1 – 介绍................................................................................................................................................................5
2 – 描述 / 符合的标准.........................................................................................................................................5
2.1 – 通用描述.................................................................................................................................................5
2.2 – 标准参考: "CE" 认证.............................................................................................................................6
2.3 – 参考标准: "UL" 列表.............................................................................................................................6
3 – 调试所需其他文档........................................................................................................................................6
第 2章 – 规格.........................................................................................................................................................7
1 – 主要技术数据................................................................................................................................................7
1.1 – CD1-k-230/I 单轴驱动器.......................................................................................................................7
1.2 - CD1-K-400/I 单轴驱动器.......................................................................................................................7
1.3 –CD1-k-230/I 和 CD1-k-400/I 驱动器类型的通用规格..........................................................................8
2 – 尺寸..............................................................................................................................................................11
2.1 - CD1-k-230/I 驱动器 2.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................11
2.3 - CD1-k-400/14 A 驱动器 2.4 - CD1-k-400/30/45/70和90 A 驱动器.....................................11
2.5 – 制动电阻 dp 100/100, dp 200/100, dp 50/200, dp33/280 和 Ef16.5/560.............................................12
3 – 安装..............................................................................................................................................................13
3.1 - CD1-k-230/I 驱动器 3.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................13
3.3 - CD1-k-400/14 A 驱动器 3.4 - CD1-k-400/30/45/70 和90 A 驱动器........................................13
4 – 多轴电器柜安装..........................................................................................................................................14
4.1 - CD1-k-230/I 驱动器 4.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................14
4.3 - CD1-k-400/14 A 驱动器 4.4 - CD1-k-400/30/45/70 和 90 A 驱动器.........................................14
第 3章 – 输入-输出口..........................................................................................................................................15
1 – 接头位置......................................................................................................................................................15
1.1 – 单轴驱动器 CD1-k-230-I 和 CD1-k-400-I...........................................................................................15
1.2 – CD1-k-400/30/45/70和90 驱动器.......................................................................................................15
2 - LED 显示......................................................................................................................................................16
2.1 –LEDs辩识..............................................................................................................................................16
3 – 驱动器选址: 传输速度选择........................................................................................................................17
4 - X1 接头: 旋变传感器...................................................................................................................................18
5 - X2 接头: 输入-输出......................................................................................................................................18
5.1 – 逻辑输入说明: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW SPEED...........................................19
5.2 -继电器逻辑输出 "AOK"规格................................................................................................................19
5.3 – 逻辑输出说明.......................................................................................................................................19
5.4 – 模拟量输入说明...................................................................................................................................20
6 - X3 接头: 编码器...........................................................................................................................................20
6.1 - X3 TTL 增量式编码器 & HES 输入 (接头 D 25 针母头)接口............................................................20
6.2 - X3 SinCos 增量式编码器 & HES 输入 (接头 D 25 针脚母头)接口...................................................21
6.3 – X3绝对式单圈 SinCos 编码器 (接头 D 25 针母头)接口...................................................................22
6.7 - X3 "PULSE / DIRECTION" 输入 (接头 D 25 针母头)接口................................................................25
6.8 - X3 编码器输出 (接头 D 25 针脚母头)接头.........................................................................................26
7 - X6 和 X7 接头: CAN-OPEN..........................................................................................................................26
3
ContentCD1-k- Installation Guide
8 - X5 接头: RS-232...........................................................................................................................................26
9 - X8 接头: 辅助供电和抱闸...........................................................................................................................27
10 - X9 接头: 动力............................................................................................................................................27
第 4章 – 接线.......................................................................................................................................................28
1 – 接线图..........................................................................................................................................................28
1.1 – CD1-k-230/I 驱动器.............................................................................................................................28
1.2 – CD1-k-400/I 驱动器.............................................................................................................................29
1.3 – 串行连接...............................................................................................................................................30
1.4 – 后备电池连接.......................................................................................................................................30
1.5 – 多轴应用连接.......................................................................................................................................31
2 – 接线建议......................................................................................................................................................31
2.1 – 地线连接和接地...................................................................................................................................31
2.2 – 接头的屏蔽连接...................................................................................................................................32
CD1-k 系列
安装手册
CANopen
总线驱动器
INFRANOR®
CD1-k 1CD1-k- Installation guide
警 告
!
这是描述伺服驱动器系列的通用手册，本系的列驱动器用来驱动交流无刷正弦伺服电机.
请参见 CD1-k User Guide 使用手册，了解驱动器的操作方法(调试, 配置, ...).
关于 CANopen 通信, 见手册 CD1-k – CANopen Communication Profile通讯协议.
请在开始使用驱动器前，必须详细阅读手册，以了解关于本产品储存，使用，调试及技术细节等相关情况。
维护工作应当由非常熟练的技术人员来做，需要对电气和各种伺服系统(EN 60204-1 standard)非常了解且使用正
确的测试设备。
与标准保持一致，只有按照本驱动手册推荐的条目安装才会获得"CE"认证. 如果推荐的要求没有遵守，接线出现问
题是用户的责任.
即 使是断电以后, 马上与任何电气部分的接触, 都可以导致生理损害.
断 电后, 接触驱动器前至少等待 5 分钟(几百伏的残余电会保持几分钟).
E SD 信息 (释放静电)
IN FRANOR 驱动器设计时考虑了周全的静电保护. 然而, 一些部件是非常敏感的, 如果驱动器没有正确
的存储和使用可能会导致损坏.
存储
- 驱动器必须存储在原始包装中.
- 从包装中取出时, 必须以它一侧水平金属表面且能释放静电或电中性放置, 以防止静电.
- 避免驱动接头和带静电的材质(塑料膜, 聚脂, 涤纶, 地毯…)接触.
操作
- 如果没有有效的保护设备（放静电手镯或鞋）, 驱动器要通过金属壳接地.
- 不要触碰接头.
销毁
为了遵守 2002/96/EC 欧洲议会及理事会1.27 2003 废弃电子电气设备(WEEE) 废弃协议, 所有
INFRANOR 设备有销毁符号, 标准按照附录 IV 2002/96/EC 指标.
此符号表示 INFRANOR 设备必须有选则性的处理销毁, 不能当作标准废弃物处理.
对于不适当的使用或者描述造成的物理或实质性的损害, INFRANOR不承担任何责任.
进行手册中没有指出的任何涉及到其他权益的条目, 将立即取消保修条款.
Infranor 保留在不通告的情况下对手册中内容进行更改的权利.
© INFRANOR, August 2008. 版权所有
版本号: 5.7
2
CD1-k- Installation guideCD1-k – Installation Guide
目录
PAGE
目录.........................................................................................................................................................................3
第 1章 – 概况.........................................................................................................................................................5
1 – 介绍................................................................................................................................................................5
2 – 描述 / 符合的标准.........................................................................................................................................5
2.1 – 通用描述.................................................................................................................................................5
2.2 – 标准参考: "CE" 认证.............................................................................................................................6
2.3 – 参考标准: "UL" 列表.............................................................................................................................6
3 – 调试所需其他文档........................................................................................................................................6
第 2章 – 规格.........................................................................................................................................................7
1 – 主要技术数据................................................................................................................................................7
1.1 – CD1-k-230/I 单轴驱动器.......................................................................................................................7
1.2 - CD1-K-400/I 单轴驱动器.......................................................................................................................7
1.3 –CD1-k-230/I 和 CD1-k-400/I 驱动器类型的通用规格..........................................................................8
2 – 尺寸..............................................................................................................................................................11
2.1 - CD1-k-230/I 驱动器 2.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................11
2.3 - CD1-k-400/14 A 驱动器 2.4 - CD1-k-400/30/45/70和90 A 驱动器.....................................11
2.5 – 制动电阻 dp 100/100, dp 200/100, dp 50/200, dp33/280 和 Ef16.5/560.............................................12
3 – 安装..............................................................................................................................................................13
3.1 - CD1-k-230/I 驱动器 3.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................13
3.3 - CD1-k-400/14 A 驱动器 3.4 - CD1-k-400/30/45/70 和90 A 驱动器........................................13
4 – 多轴电器柜安装..........................................................................................................................................14
4.1 - CD1-k-230/I 驱动器 4.2 - CD1-k-400/1.8 到 7.2 A 驱动器..........................................................14
4.3 - CD1-k-400/14 A 驱动器 4.4 - CD1-k-400/30/45/70 和 90 A 驱动器.........................................14
第 3章 – 输入-输出口..........................................................................................................................................15
1 – 接头位置......................................................................................................................................................15
1.1 – 单轴驱动器 CD1-k-230-I 和 CD1-k-400-I...........................................................................................15
1.2 – CD1-k-400/30/45/70和90 驱动器.......................................................................................................15
2 - LED 显示......................................................................................................................................................16
2.1 –LEDs辩识..............................................................................................................................................16
3 – 驱动器选址: 传输速度选择........................................................................................................................17
4 - X1 接头: 旋变传感器...................................................................................................................................18
5 - X2 接头: 输入-输出......................................................................................................................................18
5.1 – 逻辑输入说明: INHIBIT, FC+, FC-, INDEX, CAPTURE, LOW SPEED...........................................19
5.2 -继电器逻辑输出 "AOK"规格................................................................................................................19
5.3 – 逻辑输出说明.......................................................................................................................................19
5.4 – 模拟量输入说明...................................................................................................................................20
6 - X3 接头: 编码器...........................................................................................................................................20
6.1 - X3 TTL 增量式编码器 & HES 输入 (接头 D 25 针母头)接口............................................................20
6.2 - X3 SinCos 增量式编码器 & HES 输入 (接头 D 25 针脚母头)接口...................................................21
6.3 – X3绝对式单圈 SinCos 编码器 (接头 D 25 针母头)接口...................................................................22
6.7 - X3 "PULSE / DIRECTION" 输入 (接头 D 25 针母头)接口................................................................25
6.8 - X3 编码器输出 (接头 D 25 针脚母头)接头.........................................................................................26
7 - X6 和 X7 接头: CAN-OPEN..........................................................................................................................26
3
ContentCD1-k- Installation Guide
8 - X5 接头: RS-232...........................................................................................................................................26
9 - X8 接头: 辅助供电和抱闸...........................................................................................................................27
10 - X9 接头: 动力............................................................................................................................................27
第 4章 – 接线.......................................................................................................................................................28
1 – 接线图..........................................................................................................................................................28
1.1 – CD1-k-230/I 驱动器.............................................................................................................................28
1.2 – CD1-k-400/I 驱动器.............................................................................................................................29
1.3 – 串行连接...............................................................................................................................................30
1.4 – 后备电池连接.......................................................................................................................................30
1.5 – 多轴应用连接.......................................................................................................................................31
2 – 接线建议......................................................................................................................................................31
2.1 – 地线连接和接地...................................................................................................................................31
2.2 – 接头的屏蔽连接...................................................................................................................................32
AIGC"CD1-k系列CANopen总线驱动器安装手册" 是针对特定型号的电气产品——CANopen通信技术的控制器或接口设备，即CD1-k系列产品。该手册详细介绍了如何正确、安全地将此类驱动器集成到一个系统中，包括但不限于硬件连接步骤、电源配置、信号线敷设、初始化设置、协议栈配置、应用软件编程、错误处理和诊断方法等内容。用户在进行设备安装、调试及日常维护时，应参照此手册以确保系统的稳定运行和遵循CANopen标准通信规范。
