Once the phenomenon of the robot servo motor drive burning MOS tube is started, the external stable wire of the drive will be burned, and the equipment cannot be operated. When the repairer checked, he found that a power tube had been damaged, but because there was no material, he couldn't figure out the effect of the tube, thinking that it was the front push of the power movement, and replaced it with a power tube.
After repairing and checking, the initial analysis was correct, that is, it was safely and repeatedly fused, and there must be an abnormal high current in the driver, and a power tube was damaged. But the effect of the tube is not clear. In fact, the tube is the power drive tube of the robot servo motor, and the robot stepper motor is the starter, so it has to withstand high voltage and high current. Static inspection, it is found that in the circuit of the pulse ring distributor, the resistance value of its power supply to the ground terminal is very small, but there is no short circuit.
According to the number of components in the circuit and its power consumption, the resistance value of the power supply to the ground terminal should not be so small, so it is suspected that the components in the circuit are damaged. When the power is turned on, it is found that a chip is abnormally heated. After the power is off, cut off the power pin of the chip, and the resistance of the power supply to ground should increase normally. The resistance of the chip to the ground is very small. Check the type of the chip, it is a non-standard type, which is not found in many manuals.
After circuit analysis, it was recognized as the main component of the board: the ring pulse splitter. In order to further admit the problem of the chip, firstly, the power drive tube of the robot stepper motor with appropriate withstand voltage current power was replaced, the power supply pins of the chip were restored, and the windings of the robot stepper motor were replaced by light-emitting diode circuits as imitation loads. After power-on, the light-emitting diodes are all lit, that is, all windings are energized, which does not meet the requirements of the line, and the input step pulse has no response, so it is admitted that the chip is damaged.
However, the chip mall does not have, in the case of space in the driver housing, a combined circuit is used, that is, a ring pulse generator is planned with the existing D flip-flop and NAND gate assembly station, which is manufactured on a small printed board, and the original chip is removed and the small printed board is installed on the pad of the original chip through the pins. The light-emitting diode is still used as the imitation load, and the stepping pulse is added after the power is turned on, and the light is emitted sequentially according to the phase order. Dismantle the imitation load, connect to the host, power on, and the equipment is running normally.
THE MAIN FUNCTION OF >>THE ROBOT DRIVER IS TO RECEIVE THE SIGNAL FROM THE MAIN CONTROL BOX (NC CARD), AND THEN PROCESS THE SIGNAL AND THEN TRANSFER IT TO THE MOTOR AND THE SENSOR RELATED TO THE MOTOR, AND REFLECT THE WORKING SITUATION OF THE MOTOR TO THE MAIN CONTROLLER)。
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KUKA Robotics Programming Language
1. KUKA's programming language
KUKA'S ROBOT PROGRAMMING LANGUAGE IS KRL, WHICH IS A TEXTUAL LANGUAGE SIMILAR TO C LANGUAGE (PLEASE BAIDU WHAT IS C LANGUAGE), WHICH IS COMPOSED OF .SRC AND . DAT composition.
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KUKA mobile robot KMP 1500 features:
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Introduction to tool payload data – KUKA robots
In industrial robots, what is stuff load data?
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Need to lose ...
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KUKA robot instruction line indentation and program flow diagram
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Check the wiring under the machine control cabinet
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Robot manipulator structure
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KUKA robot servo motor maintenance encountered the cause of overheating failure
(1) The power supply voltage is too high;
(2) The power supply voltage is too low, the motor is running with rated load, and the current is too hot for the winding;
(3) When repairing and removing the winding, the thermal dismantling method is not appropriate, and the iron core is burned;
(4) The motor is overloaded or starts frequently;
(5) Lack of phase of the motor ...
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Industrial robots have requirements for joint drive motors
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The 120th anniversary of KUKA Robotics has collected some special congratulations
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Can the teaching pendant of industrial robots be used universally - KUKA robots
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Preventive maintenance program for KUKA robots
back-up controller memory;
Supervise the robot at regular intervals to view the robot, wires and cables;
Look at the brakes;
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KUKA robot units are inspected before they are put into operation
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