(1) If the rotor of a KUKA motor is unbalanced, and the dynamic balance of the motor rotor is defective or deteriorates after use, an oscillation source similar to an oscillating motor may occur.
(2) The twisting of the rotating shaft, the situation of the twisting and turning of the rotating shaft is similar to the unbalance of the rotor, in addition to the oscillation source, the coaxiality error of the center of the rotor of the motor and the center of the lead screw will also occur, so that the mechanical transmission system will flutter.
(3) The defects of the coupling production or the wear and tear after the use will cause the coaxiality error of the two parts of the coupling, especially the rigid coupling used for casting, due to the poor production accuracy of its own, the coaxiality error will simply cause oscillation.
(4) The parallelism of the guide rail is poor during production, which will cause the KUKA servo system to be unable to reach the specified direction to stay in the specified direction, at this time, the KUKA servo motor will keep trying to find the direction and the system reaction between wandering, so that the motor continues to oscillate.
(5) The parallelism error between the lead screw and the guide rail plane, the parallelism error between the lead screw and the guide rail position plane in the process of installation will also make the motor oscillate due to uneven load.
(6) The lead screw is bent, and the lead screw is subject to the radial force that changes in addition to the axial thrust after the screw bends, and the radial force is large when the bend is large, and the radial force is small when the bend is small, and the same radial force that should not exist will also make the mechanical transmission system oscillate.
2. Electrical
The main reason for the electrical aspect of KUKA's communication servo motor is the parameter adjustment of the servo drive.
(1) Load inertia, the setting of load inertia is generally related to the size of the load, too large load inertia parameters will cause the system to oscillate, and the general KUKA communication servo motor can actively measure the load inertia of the system;
(2) the speed share gain, the larger the set value, the higher the gain, the greater the stiffness of the system, the parameter value is determined according to the detailed servo drive type and load condition, under normal conditions, the larger the load inertia, the larger the set value, in the case that the system does not oscillate, the set value is as large as possible, but the larger the gain, the smaller the error, the simpler the oscillation;
(3) the speed integral constant, under normal conditions, the larger the load inertia, the larger the set value, the system does not oscillate, the set value is as small as possible, but reducing the integral gain will make the machine tool respond slowly, and the rigidity will become worse;
(4) The greater the azimuth share gain, the larger the set value, the higher the gain, the greater the stiffness, the smaller the azimuth lag under the same frequency command pulse condition, and the larger the value may cause the motor to oscillate;
(5) Acceleration response gain, when the motor does not rotate, a small offset will be expanded by the share gain of the speed ring, and the corresponding torque will occur in the speed response, making the motor flutter back and forth.
The KUKA communication servo system is superior to stepper motors in many functional aspects. However, in some undemanding occasions, stepper motors are often used to perform motors. Therefore, in the design process of the control system, it is necessary to comprehensively consider the control requirements, cost and other factors, and select the appropriate control motor.
Analysis of the causes of contact error of industrial robot teach pendant
The direction in which the finger is touching does not coincide with the mouse arrow.
Reason 1: After the driver of the industrial robot teach pendant is installed, there is no pen directly touching the square position of the bullseye when checking the alignment.
Solution 1: Realign the alignment.
Phenomenon 2: Some areas are in contact with each other, and some areas are incorrect.
Reason 2: A lot of dust or scale has accumulated on the sound wave reflection stripes around the four periphery of the external sound wave contact screen, which affects the transmission of sound wave signals.
Solution 2: clean the contact screen, pay special attention to the sound wave reflection stripes on the four sides of the contact screen to be clean, and the use load of the contact screen control card should be used to calibrate the function when cleaning, it is necessary to perform with load. There are two types of "data that are 'learned' with things" and "data that are 'learned' without tools".
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