1. Turn on the power and the system of the CNC milling machine, the servo motor buzzes, and the servo motor will heat up after a few minutes of ringing. After reducing the rigidity, it will not sound, but the milled circle is not like a circle. How to adjust?
It should be that the gains of several drives are set differently, causing the motor to self-excite at different speeds. You can set the parameters of the drive to be tested and the reference drive to be consistent and try again. Did you watch the inertia ratio? Gain is one aspect, but don't ignore the inertia.
2. The servo drive controls the servo motor by adjusting the three-loop PID. The noise is relatively large, but the motor does not vibrate. The carrier frequency is 10KHZ, and the current sampling speed is 0.1us once. Why?
The cause of the noise: Because there is no input pulse filter, there is that noise.
3. What is the reason why the motor can't start and the noise is big and the vibration is big?
1. Disconnect the load;
2. Rotate by hand to confirm that it is flexible and no abnormality;
3. No-load start-up experiment;
4. Check the load condition.
First, see if there is a problem with the dynamic balance. This is the sound of the current, then the motor bearings, and finally the drive parameters, most of which are loose or broken bearings.
4. What is the reason and how to deal with the abnormal noise in the motor operation?
1. When the stator and the rotor rub against each other, there will be a harsh "chacha" rubbing sound, which is mostly caused by a faulty bearing. The bearings should be checked, and the damaged ones should be updated. If the bearing is not broken, and it is found that the bearing is running on the inner or outer ring, the bearing and the end cover can be inserted or replaced.
2. The motor is running under phase loss and the roar is particularly loud. It can be switched off and switched on again to see if it can start normally again. If it fails to start, one phase of the fuse may be broken. A phase loss will occur if the contacts of the switch and the contactor are not connected.
3. When the bearing is severely short of oil, a "sizzling" sound can be heard from the bearing chamber. The bearings should be cleaned and new oil should be added.
4. The wind blade hits the shell or has sundries and makes an impact sound. The wind blade should be calibrated and the debris around the wind blade should be removed.
5. When the cage rotor bar is broken or the winding joint of the wound rotor is disconnected, sometimes there will be high and low “humming†sounds, the speed will slow down, and the current will increase, so check and deal with it. In addition, the length of the rotor and stator of some motors is not well matched. For example, the length of the stator is too much longer than the length of the rotor, or the bearing hole of the end cover is worn too much, the rotor produces axial movement, and the sound of "humming" will also be produced.
6. Wiring errors at the first and end of the stator winding, a low roar, and a drop in speed, should be checked for positive.
The motor is very noisy, what is the reason? How to deal with it?
Reason 1: The bearing clearance in the motor is large. Treatment: Replace the bearing.
Reason 2: Rotor scans. Treatment: Re-repair the stator and rotor.
Reason 3: The magnet is loose. Treatment: re-bond the magnet.
Reason 4: Deflection of the motor body. Treatment: Readjust the body.
Reason 5: The surface layer of the motor steering gear is oxidized, ablated, oily is uneven, and the commutator is loose. Treatment: Clean the commutator or weld the commutator piece firmly.
Reason 6: The carbon brush is loose and the carbon brush holder is not correct. Treatment: Adjust.
5. Why is the motor noisy? How to deal with it?
According to the divergence method of motor noise, the noise can be roughly divided into three categories: â‘ electromagnetic noise; â‘¡ mechanical noise; â‘¢ aerodynamic noise.
Electromagnetic noise is mainly caused by the effect of the air gap magnetic field on the radial weight of the stator core. It propagates to each other through the yoke, causing the stator core to vibrate and deform. The second is the tangential weight of the air gap magnetic field, which is opposite to the electromagnetic torque and deforms and vibrates the iron core teeth. When the radial electromagnetic force wave is close to the natural frequency of the stator, it will cause resonance, which greatly increases the vibration and noise, and even endangers the service life of the motor.
According to the cause of electromagnetic noise, we can use the following methods to reduce electromagnetic noise.
(1) Use sinusoidal windings as much as possible to reduce harmonic components; (2) Choose an appropriate air gap magnetic density, which should not be too high, but too low will affect the application rate of the data; (3) Choose suitable slots to prevent low-order force waves; ⑷Using the rotor skew, one stator slot pitch; ⑸The stator and rotor magnetic circuits are symmetrical and even, and the overlapping pressure is tight; ⑹The stator and rotor processing and assembly should pay attention to their roundness and coaxiality; ⑺Be careful to avoid them Resonance frequency.
6. The newly-purchased electricity is the kind of SEW with the motor and the reducer connected together. It is mainly controlled by PLC and inverter. The speed used is very low, about 25 Hz. It feels very noisy and mechanical. There is no problem with the angle of the active sprocket and the passive sprocket, the motor base is also firmly fixed, the cooling fan and the protective cover are not scratched, and the explosion brake is also released, but the noise is very loud when it runs, just like a transformer in the community The sound, why?
That is the unique electromagnetic noise (squeaking) of the inverter-driven motor. There is no way to eliminate it, but it can be reduced a little by modifying the inverter parameters: increase the carrier frequency a little, and the noise will be a little bit smaller. But increasing the carrier frequency of the inverter will cause the inverter to heat up. The low frequency around 25 Hz is originally very annoying. Generally, the scratching audio frequency is high, and the base is fixed firmly. It depends on the base. The sound of the metal plate will be louder, and the louder load will be louder. Use a screwdriver to hold your ears and listen carefully. Wherever, if there is no problem with the installation, the loud noise of the motor is often due to the bad bearing. The new one should not be the same. It may be the original one, and it will run normally. The other is the control problem.
7. What are the reasons for abnormal noise and heat generation when the servo motor is running?
Abnormal noise is that the load of the motor is too heavy, the torque of the motor is less than the torque required by the load, and the locked-rotor torque of the motor is greater than the torque required by the load. Heating means that the current of the motor is too large (generally heating is normal). If it is very hot, or the locked rotor time is too long, it is easy to burn the motor (motor demagnetization). To put it bluntly, the small horse-drawn cart is very laborious. To pull the pony, it takes more effort to pull the cart, so it generates heat (increases the current) and pulls the cart very hard (abnormal noise). The abnormal noise is caused by the servo motor bearing broken, and the heating is caused by a large current. The essence is the abnormal large current generated by the servo motor in order to overcome the vibration of the motor shaft. It is estimated that the motor is broken and needs to be dealt with as soon as possible, otherwise the fault will expand.
8. What is the problem of the humming of Siemens servo motors?
There are many reasons for this problem in servo motors. One is that the zero position of the servo motor encoder is inaccurate, that is, the zero position of the encoder is drifting. The second is the lack of rigidity of the drive or the parameters are problematic. The third is that the power line of the servo motor may be connected. The problem is, the power line of the servo motor cannot be mistaken, so you can change it several times. Fourth, there is a problem with the encoder installation or the encoder itself, which needs to be carefully checked. It is best to exchange each other for the same servo motor and driver. There is a problem with the servo motor, it is best to find a professional to repair it. System and drive failure, motor itself failure; the match between the drive and the actual feed system does not reach the optimal value, usually only through the adjustment of the speed loop gain and integration time of the drive can be eliminated, the specific method is:
1) According to the drive module and motor specifications, set the correct current regulator for S2 of the regulator board of the driver. 2) Adjust the potentiometer (on the front of the drive) of the integral time Tn of the speed regulator to the limit counterclockwise (Tn≈39ms). 3) Adjust the ratio Kp of the speed regulator to the middle position (Kp≈7~10). 4) After the above adjustment, the squeal of the servo motor can be eliminated, but the dynamic characteristics are poor at this time, and the next adjustment is required. 5) Slowly rotate the integral time Tn adjustment potentiometer clockwise to reduce the integral time until the motor oscillates. 6) Slightly rotate the integral time Tn counterclockwise to adjust the potentiometer, so that the vibration of the motor can be eliminated. 7) Keep the above position and make a record. After the machine tool is adjusted above, the scream is eliminated and the machine tool resumes normal operation.
9. What is the reason for the motor sweeping?
Motor sweeping is the friction between the rotor of the motor and the silicon steel sheet in the stator winding. Generally, the bearing is broken, and it may also be that the bearing goes outside and the bearing position of the end cover is loose. It is also possible that the rotor runs on the inner edge and the bearing position on the rotor is broken. The smallest possibility is caused by the bending of the rotor. Rotor eccentricity caused by bearing wear or loose bearing seat.
The support ring on the motor shaft is severely worn, the rotor core is displaced, or the stator core is displaced due to other reasons, which causes the gap between the conical rotor and the stator of the motor to be too small to sweep the bore. The motor is strictly prohibited from "sweeping the bore". When the sweeping occurs, the support ring should be removed for replacement, and the gap between the stator and rotor cones should be adjusted to make it uniform, or sent for repair.
10. The AC servo motor will jitter during operation. How to solve the problem?
E-1E: Refers to the actual value that cannot be checked for remote registration.
E-2E: Means that the normal value cannot be transmitted.
E-3E: Means that the status of the currently selected unit cannot be checked.
E-4E: Means that the current running status of the servo motor cannot be confirmed.
E-5E: Means that the servo motor position potentiometer is not within the adjustment range.
The jitter is not normal, it may be due to poor guide rails or insufficient power supply. Turn the power down a bit.
11. In general use of the servo controller, which parameters are adjusted?
The parameters and parameter definitions used by different brands are different. The following summarizes Yaskawa servo debugging.
1. When Yaskawa Servo is used in low rigidity (1～4) load applications, the inertia ratio is very important. Considering the structure of the synchronous belt, the rigidity is about 1～2 (or even below 1). At this time, the inertia ratio cannot be automatically tuned. , The servo amplifier must be placed in a non-auto tuning state;
2. The range of inertia ratio is between 450 and 1600 (depending on the load)
3. At this time, the rigidity is between 1 and 3, and can even be set to 4; but sometimes it may be less than 1.
4. Rigidity: The ability of the motor rotor to resist the load inertia, that is, the self-locking ability of the motor rotor. The lower the rigidity, the weaker the motor rotor is, the more likely it is to cause low-frequency vibration, and the load will shake after reaching the specified position. The rigidity and inertia ratio are used together. If the rigidity is much higher than the matching range of the inertia ratio, the motor will have high-frequency self-excited oscillation, which is manifested as the high-frequency harsh sound of the motor. All these bad performances are in the servo signal (SV -ON) When ON and the load is connected.
5. The reason for the phenomenon of overtravel after the positioning is in place, and then automatically retreat: The position loop gain is set too large, which is mainly possible when the load is low rigid.
6. Adjustment of low rigidity load gain: A. Set the inertia ratio to 600; B. Set Pn110 to 0012; Do not auto-tune C. Set Pn100 and Pn102 to minimum; D. Set Pn101 and Pn401 to rigidity Parameter E at 1 o'clock, and then perform JOG operation, the speed is from 100 to 500; F, enter the software SETUP to check the actual inertia ratio; G, set the seen inertia ratio to Pn103; H, and it will be set automatically Rigidity, usually set to 1 at this time; I, then turn SV-ON to ON, if there is no oscillating sound, perform JOG operation at this time, and observe whether the motor oscillates; if there is oscillation, the value of Pn100 must be reduced, Then repeat E and F to reset the moment of inertia ratio; reset the rigidity; note that the rigidity should be 1 or even below 1; J. When the rigidity is set to 1, gradually increase the JOG speed, and appropriately Reduce the setting values ​​of Pn305 and Pn306 (acceleration/deceleration time); K, enter positioning control debugging without oscillation during multiple JOG operations above 800 rpm; L, first reduce the positioning speed to within 200 rpm for debugging M, and In the process of debugging, reduce the setting value of Pn101 parameter continuously; N. If the load has low frequency oscillation after reaching the position during debugging, reduce the setting value of Pn102 parameter appropriately at this time to adjust to the best positioning state; O. Increase the speed at a speed of 100～180rpm. At the same time, observe whether the servo motor vibrates. If low-frequency oscillation of the load occurs, reduce the setting value of Pn102. If the motor has high-frequency oscillation (the sound is sharper), reduce the Pn100 appropriately. Set value, you can also increase the value of Pn101; P. Description: Pn100 Speed ​​loop gain Pn101 Speed ​​loop integral time constant Pn102 Position loop gain Pn103 Rotational inertia ratio Pn401 Torque time constant.
7. In the positioning control, in order to reduce the mechanical damage of the load of the low-rigidity structure, a certain acceleration and deceleration time can be added to the two ends of the positioning control, especially the acceleration time; usually depending on the maximum speed, it can be set from 0.5 seconds Set to 2.5 seconds (refers to: the time from 0 to the highest speed).
8. Calculation of the feed per revolution of the motor: A. The motor is directly connected to the ball screw: the pitch of the screw B. The motor is connected to the ball screw through the reduction device (gear or reducer): the pitch of the screw × deceleration Ratio (the number of gear teeth on the motor side divided by the number of gear teeth at the screw) C. Motor + reducer are connected through gears and racks: rack pitch × number of gear teeth × reduction ratio D, motor + reducer are connected through rollers and rollers: roller (Roller) diameter × π × reduction ratio E, motor + reducer connected by gear and chain: chain pitch × gear teeth × reduction ratio F, motor + reducer connected by synchronous wheel and synchronous belt: synchronous belt tooth pitch × The number of teeth of the synchronous belt pulley × (the number of teeth of the synchronous wheel on the motor side/the number of teeth on the belt wheel on the synchronous belt side) × reduction ratio; There are 3 synchronous wheels, and the motor is first driven by the synchronous wheel on the output shaft side of the motor reducer to another synchronous The wheel is then driven by the synchronous wheel to the synchronous wheel directly connected to the synchronous belt.
9. Load inertia: A. The inertia on the motor shaft side needs to be used within 5-10 times the inertia of the motor itself. If the inertia on the motor shaft side exceeds the inertia of the motor itself, the motor needs to output a large torque, acceleration and deceleration The process time becomes longer and the response becomes slower; B. If the motor is connected to the load through a reducer, if the reduction ratio is 1/n, then the inertia of the output shaft of the reducer is (1/n) 2C of the original motor shaft side inertia, inertia Ratio: m=Jl/Jm The inertia ratio of the load converted to the motor shaft side is the motor inertia; D, Jl
10. General adjustment (non-low rigid load) A, automatic tuning method is generally adopted (you can choose constant tuning or power-on tuning) B. If manual tuning is used, you can follow the following steps C after setting to non-auto tuning. Set the rigidity to 1, and then adjust the speed loop gain, from small to large slowly, until the motor starts to oscillate. At this time, record the gain value at which the oscillation starts, and then take 50-80% as the used value (depending on the load mechanism In terms of rigidity) D, the position loop gain generally keeps the initial setting value unchanged, and can also be increased like the speed loop gain, but when the load is large inertia, once the load vibration occurs when it stops (negative pulse cannot be eliminated, deviation When the counter cannot be cleared), the position loop gain must be reduced; E. When the motor is decelerating and the low-speed motor is running unevenly, slowly reduce the speed loop integration time to know that the motor starts to vibrate. 500 to 1000 are added to this data as the data for official use. F. When the servo is ON, when the motor vibrates in the left and right directions at low frequency (4～6/S) (the inertia is very large at this time), adjust the position loop gain to about 10 and follow the instructions in C Re-adjust
11. The meaning and use of adjustment parameters: A. Position loop gain: Determine the number of stuck pulses in the deviation counter. The larger the value, the smaller the number of stuck pulses, the shorter the adjustment time when stopping, the faster the response, and the quicker positioning is possible. However, when the setting is too large, stuck pulses will be generated in the deviation counter, and there will be vibration when stopping; When the inertia is relatively large, the gain can only be adjusted after the speed loop gain is adjusted, otherwise vibration will occur; B. The relationship between the position loop gain and the retained pulse: e = f / Kp where e is the number of retained pulses; f is the command Pulse frequency; Kp is the gain of the position loop; it can be seen that the smaller the Kp, the more the number of retained pulses, and the greater the error during high-speed operation; when the Kp is too high, e is small, and the deviation counter is likely to generate negative pulses during positioning Number, there is vibration; C. Speed ​​loop gain: When the inertia ratio becomes larger, the speed response of the control system will decrease and become unstable. Generally, the gain of the speed loop will be increased, but when the gain of the speed loop is too large, vibration will occur during running or stopping (the motor emits abnormal noise). At this time, the speed loop gain must be set at 50-80% of the vibration value . D. Speed ​​integral time constant: Improve speed response use; increase speed integral time constant can reduce overshoot during acceleration and deceleration; reduce speed integral time constant can improve rotation instability.
12. What should I do if the servo motor shakes?
The servo motor is controlled by Zhuhai Shipping. When the upper connecting rod is not installed, everything looks normal; once the connecting rod is installed, the motor will swing left and right by itself, and the parameter setting has not been adjusted for a long time. Note: The phenomenon that the reducer is not connected shows two problems:
1. The load inertia is much greater than the inertia of the motor itself;
2. The rigidity of the connection between the two parts is low, causing the load to resonate.
In this case, the system can only be adjusted very softly, that is, the rigidity has to be adjusted down and the response speed has to be slowed down. The specific method is to turn off the integration and reduce the gain of the position loop at the same time.
If you want to solve these two problems, you need to start with these two problems: 1. It is recommended to add a reducer, so that the inertia of the load converted to the motor is greatly reduced. Japanese Servo usually requires the load/motor inertia ratio to be less than 5:1. 2. Load and deceleration The connection of the machine should be firm to increase rigidity. The above two measures should be used at the same time. If the rigidity of the load itself is low, there is no way. In this case, even if the motor does not vibrate, the load will vibrate during rapid start and stop.
13. How to solve the problem of load jitter caused by the sudden stop of the servo motor at the positioning point?
You can try to use acceleration and deceleration pulse output commands. The jitter of the load caused by a sudden stop is a manifestation of the contradiction between the rotational inertia and the deceleration torque. It can be reduced but not completely eliminated. The most effective way is to gradually slow down for a period of time before reaching the anchor point. This should be solved from two aspects. Basically, the performance of the servo and on-site debugging; PLC pulses.
14. Use PLC to send pulses to control the servo motor. When there is no pulse sent, sometimes the motor jitters slightly. What should I do?
1. Servo parameters should be adjusted well, mainly: inertia, rigidity, 2. Some also need to adjust position ratio, integral, and differential
15. When using the program stepper motor to start at high speed, there will be a jitter sound that cannot be started. Can a servo motor solve this problem?
It has nothing to do with the program. It should be caused by insufficient moment of inertia of the motor. It is recommended to change to a larger stepper or servo. The servo can be overloaded.
16. What is the reason for the rapid jitter of the servo motor?
1. Servo wiring: a. Use standard power cables, encoder cables, control cables, whether the cables are damaged; b. Check whether there is an interference source near the control line, whether it is parallel to or too close to a nearby high-current power cable; c. Check whether there is any change in the potential of the ground terminal to ensure a good grounding.
2. Servo parameters: a. The servo gain setting is too large, it is recommended to re-adjust the servo parameters manually or automatically;
b. Confirm the setting of the speed feedback filter time constant, the initial value is 0, you can try to increase the setting value;
c. The electronic gear ratio setting is too large, it is recommended to restore to the factory setting;
d. For the resonance of the servo system and mechanical system, try to adjust the frequency and amplitude of the notch filter.
3. Mechanical system:
a. The coupling connecting the motor shaft and the equipment system is offset, and the mounting screws are not tightened;
b. Poor meshing of pulleys or gears will also cause load torque changes. Try no-load operation. If it is normal during no-load operation, check whether the joint part of the mechanical system is abnormal;
c. Check whether the load inertia, torque, and speed are too large, and try to run at no-load. If no-load operation is normal, reduce the load or replace the drive and motor with a larger capacity.
17. What causes the vibration of the servo motor?
1. The jitter chirping of the servo motor is related to its mechanical structure (such as the frequent brush faults of DC servo motors), speed loop problems (speed loop integral gain, speed loop proportional gain, acceleration feedback gain and other parameter settings are improperly set or servo system compensation Board and amplifier board failure), load inertia (problems with guide rail or screw), electrical (brake is not opened, speed loop feedback voltage is unstable).
2. When the motor is not rotating, the small deviation will be amplified by the proportional gain of the speed loop, and the speed feedback will produce the opposite torque to make the motor jitter back and forth. Decreasing the integral gain will slow down the response of the machine tool and deteriorate the rigidity. The acceleration feedback is to use the motor speed feedback signal multiplied by the acceleration feedback gain (pa.2066) to compensate the torque command to realize the speed loop vibration control. When the position command pulse and the feedback pulse are not equal, the speed pulse command is generated together. A=F*Ks, F is the command pulse frequency; Ks is the position loop gain; A is the acceleration pulse. Xe=F/Ks, Xe is the position deviation pulse. Therefore, the greater the gain, the greater the speed and the greater the inertial force; the greater the gain, the smaller the deviation, and the easier it is to produce vibration. First check whether the brake is open. In the FANUC system, the following parameters can be adjusted to eliminate vibration caused by improper parameter settings: pa.2021 (load inertia), pa.2044 (acceleration proportional gain), pa.2066 (acceleration feedback gain)
18. The servo motor is called and it oscillates around one point.
I have encountered this kind of problem recently. The control card controls the servo, and carefully observes the X-axis screw in the circular motion back and forth. I don’t quite understand which parameters should be adjusted to solve the problem. The MR-E servo, the card outputs 1000 pulses, 1 Each pulse takes 10 u.
Try adjusting the speed loop and position loop gain back and forth. I encountered this situation because the speed loop gain was too low and the integration factor was relatively low. Reduce the position gain on the drive. The current position loop gain is in automatic mode, and recently I want to increase the position loop gain to improve the effect of the stuck pulse. Then try to increase the speed loop gain, but it may be worse, try changing to a larger motor. How to adjust the servo gain using servo monitoring software? How to analyze the response of the system by looking at the curve? If the parameters are adjusted, will the overtravel occur at the end of the servo fast positioning, and there will be slight vibration at this time? The fourth digit of parameter No. 2 is the mechanical resonance frequency setting. Try to increase it as much as possible and it should be improved. Unless the selection is not appropriate, the moment of inertia of the load is much greater than the moment of inertia of the motor rotor. Generally, the oscillation is mostly due to excessive integral action, and the proportional gain of the position loop can be appropriately increased during adjustment.
19. What is the cause of the vibration of the servo motor?
(1) The mechanical structure is not smooth and the mechanical structure is loose.
(2) The rigidity parameter of the driver is adjusted too high, causing resonance
(3) Insufficient servo power
(4) It is also possible that there is a problem with the parameter adjustment of the servo control, such as position gain, speed gain, etc. are not well matched
(5) The encoder fault feedback amount of the servo motor is incorrect (or the type is incorrect). (6) The servo drive controller has interference signals. The drive board is dusty and causes a critical short-circuit state. (7) There is a problem with the winding of the motor itself.
Twenty. What should I do about the jitter of Yaskawa servo motor 08A?
Yaskawa servo motor 08A, the machine tool will jitter when running, sometimes screaming, tried F001 to adjust the rigidity, it was 6 at the factory, now it is useless to change 5 or 4, the new generation system used in the machine tool, the system has also been changed There is no major change in stiffness gain.
First of all, it is necessary to determine whether it is a servo problem. If it is indeed a servo problem, then the rigidity adjustment will generally play a little role. If the effect is not enough, use manual adjustment of the speed loop, Pn110.0=2; Pn103=x%(x Set according to the machine situation, if you don't know the setting of 100, 200, it’s okay); then increase the speed loop gain Pn100 (1-2000), or decrease the derivative time PN101 (15-51200). If it still doesn't work, it's a problem with the upper system.
21. How to solve the jitter failure of AC servo motor?
(1) First determine whether there is a problem with the rotating part. For example, couplings, guide rails, etc. make the servo motor's rotation force change more or less motor jitter.
(2) If the rotation is no problem, it is a parameter problem. Reduce the speed loop parameters and position loop parameters. Adjustment (from small to large)
(3) Whether the driver has alarmed
(4) Sometimes the encoder will jitter when broken
22. How to deal with the jitter when the servo motor is running?
The servo motor on the workbench has a normal curve during debugging. Once it is loaded, it will shake back and forth in the direction of movement when it moves. When discharging, you will see uniform sawtooth on the cutting surface of the block.
1. What is the power of the motor? What is the rotor moment of inertia?
2. Is there a reducer? Has the system eliminated the gap?
3. What is the equivalent moment of inertia on the motor shaft of the traditional system? There are some other related parameters.
Sanyo's servo driver, fully closed loop, adjusted the current loop parameters, current feedforward, P and I parameters, the load inertia ratio was adjusted to about 400, and the screw rod connected with the coupling, the laser interferometer screw rod movement direction is It has been measured that the system analysis curve has resonance at 700 and 2000 Hz without load, and it is filtered out by a filter. The larger the load inertia ratio, the denser the sawtooth is produced under load. Lower rigidity can make the situation better but not Achieve the required performance of the equipment.
(1) Has the system eliminated the gap?
(2) "Reducing the rigidity can make the situation better", how can the system rigidity be reduced?
(3) "The system analysis curve has resonance at 700 and 2000 Hz without load." Can you test whether the system still has torsional vibration with load?
(4) Servo torque is not enough
(5) The lead of the ball screw is incorrect
(6) The moment of inertia of the load is too large, causing the motor to overshoot during operation
23. What should I do if the AB servo motor is hot and jittery?
The acceleration and deceleration of the motors are above 10,000, and the motors are hot (the other normal ones have basically no temperature). The motors are installed vertically, and the descending distance is very short. When they stop, they jump very badly, like they are flexible.
(1) There should be radial clearance in the bearing.
(2) The servo motor installed vertically needs to be braked. If you accelerate or decelerate fast, it may be that the motor brake is heating up. (3) Motor vibration may be a rigidity problem
(4) The encoder position has shifted from the zero point
Twenty-four. What should I do if the servo motor keeps trembling after stopping while it is rotating?
Use a servo motor to drive the turntable to rotate, stopping once every 180 degrees, but the turntable always vibrates after stopping, as if the servo motor shaft is not locked firmly, what should I do?
This seems to have a large inertia and can be replaced with a high-power motor or acceleration/decelerator
Twenty-five. What should I do if the servo motor jitters and abnormal sounds?
There is no abnormality after the mechanical part is disassembled, and there is no trace of friction on the connecting shaft. After the motor is removed, there is no abnormality when it rotates without load. But once it is connected to the mechanical part, there will be strong shaking and abnormal sound.
The mechanical resonance is mainly because the mechanical parts such as the screw rod and the frequency in the servo are closed, and the mechanical resonance is generated. The general servo controller has a corresponding resonance frequency that is set to shield.
In addition, the PID value in the servo controller will also cause mechanical resonance. You can calculate the PID value automatically. If it still does not work, you can manually modify it to the servo controller. These two points can generally solve the resonance caused by the servo. phenomenon.
26. How to deal with the jitter of Panasonic servo motor (motor jitter with a little heavy load)?
1. Is the inertia ratio set properly? It is possible that the motor inertia selection is too small. 2. Is the gain setting too high?
27. Possible reasons for the shaking of Mitsubishi servo motor?
1. Servo load is too large (servo selection is small) 2. Servo rigidity is not adjusted well 3. Screw rod is not selected well
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