1. Will the servo motor lose steps or walk inaccurately?
The servo motor is controlled in a closed loop by the driver through the feedback of the encoder. After the driver receives a pulse command, it drives the motor to rotate an angle, and checks whether the motor rotates to a given angle according to the command through the encoder, if the motor does not rotate according to the given command, the driver will immediately alarm; At the same time, the driver checks the encoder online according to the agreed encoder parameters, and once the encoder signal is abnormal, the driver will immediately alarm. Therefore, when the drive is working normally (no alarm), it is impossible for the servo motor to lose step or go inaccurately.
2. How to determine the problem when the mechanical kinematic device is running at the wrong size?
Estun servo drives provide a complete monitoring method through which it is easy to find out where the problem is.
When the size of the mechanical motion device is not right, the main problems are concentrated in three aspects: whether the command issued by the host computer is correct or not and whether the driver command is received correctly or not; mechanical clearance; Whether the drive parameters and the electronic wheel ratio are set correctly or not.
UN009 = the actual number of pulses of the servo motor is low, and UN=013 is the low number of pulses actually sent by the upper computer. If the data displayed by UN=009 and UN013 are the same but the actual operation result is incorrect after N pulses are sent by the host computer, it means that there may be an error in the pulse sent by the host computer, or the driver does not receive all the pulses, or even overreceives the pulses due to interference. Check the host computer, check the signal line, check the driver, and finally check whether the actual distance is wrong due to the gap.
If the data displayed by UN009 and UN013 are inconsistent after N pulses are sent by the host computer, you can check whether the 1CN signal line is wired correctly and whether there is interference, such as not using shielded twisted pair, check whether the 2CN encoder line is correct, whether there is interference, such as the strong and weak current is not separated, check whether there is a problem in the mechanical part, causing the servo motor to not completely complete or jump more, and finally check whether the electronic gear ratio is set correctly.
3. What is the function of servo motor encoder A, B, C signals?
The A, B, and C signals provided by the servo motor encoder are provided to the driver to measure the motor speed and rotation angle. The number of pulses per revolution (number of lines) of A and B signals is the same as 2500, and one pulse per revolution of C signal is the reference signal.
The drive provides A, B, and C signals synchronized with the servo motor for customer use, and its waveform is as follows:
The servo motor encoder signals are all differential output mode. The differential output method is a circuit form that is suitable for long-line drive and has strong anti-interference ability. The A and B signals of the EDB driver are both differential output modes, and the C signal output has two modes: differential and open collector output. Wiring and determining the device receiving the signal according to the output method.
4. What is the meaning of "zero point" of servo motor?
The servo motor is controlled and driven by the principle of vector control. Therefore, the installation angle of the encoder on the motor shaft is called the zero point. The angle value of the servo motor is different for different series.
If the zero point error of the servo motor is too large, the reactive current of the light motor increases, the torque does not increase with the increase of the current, the motor performance torque is not enough (weak), and the heavy motor cannot run (A12 alarm). Therefore, please do not adjust the mechanical installation position and angle of the encoder by yourself.
5. Why should the U V W line of the power cable of the servo motor be connected with the U, V and W terminals of the driver?
The winding lead of the servo motor is related to the zero point of the motor, and the feedback polarity of the driver, if it does not correspond to each other, or the motor does not run A04 alarm (the zero point is wrong), or the motor will produce a flying car A03 alarm (from negative feedback to positive feedback). Therefore, it must be connected to the corresponding terminal of the drive.
6. The number of encoder lines is 2500 lines, why is the resolution of the servo motor 0.036 degrees?
Because the EDB series servo drive adopts the quadruple frequency technology, the pulse number of the encoder is multiplied to 10000, so the resolution of the servo motor is 0.036 degrees.
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