1. Robot digital AC servo system MHMA 2KW, as soon as the test machine is powered on, the motor vibrates and has a lot of noise, and then the driver appears No. 16 alarm, how to solve it?
This phenomenon is generally due to the driver's gain setting being too high, resulting in self-oscillation. Adjust the parameters N.10, N.11, and N.12 to reduce the system gain appropriately.
2. The No. 22 alarm appears when the robot AC servo drive is powered on, why?
Alarm No. 22 is an encoder failure alarm, and the reasons for this are generally as follows:
A. There is a problem with the encoder wiring: broken wire, short circuit, wrong connection, etc., please check it carefully;
B. There is a problem with the encoder circuit board on the motor: misalignment, damage, etc., please send it for repair.
3. When the robot servo motor is running at a very low speed, it is sometimes fast and sometimes slow, like crawling, what should I do?
The low-speed creeping phenomenon of servo motor is generally caused by the system gain is too low, please adjust the parameters N.10, N.11, N.12, adjust the system gain appropriately, or run the automatic gain adjustment function of the driver.
4. Under the position control mode of the robot AC servo system, the control system outputs pulse and direction signals, but whether it is a forward or reverse rotation instruction, the motor only rotates in one direction, why?
Under the position control mode, the robot AC servo system can receive three kinds of control signals: pulse/direction, forward/reverse pulse, and A/B orthogonal pulse. The driver is factory set to A/B quadrature pulse (No42 is 0), please change No42 to 3 (pulse/direction signal).
5. In the use of the robot AC servo system, can the servo-ON be used as the signal to control the motor offline, so as to directly rotate the motor shaft?
Although the motor is able to go offline (in a free state) when the SRV-ON signal is disconnected, do not use it to start or stop the motor, frequent use of it to switch the motor on and off may damage the drive. If the offline function needs to be realized, the switching of the control mode can be adopted: assuming that the servo system needs position control, the control mode selection parameter No02 can be set to 4, that is, the mode is position control, and the second mode is torque control. Then use C-MODE to switch the control mode: when the position control is carried out, the signal C-MODE is turned on, so that the driver works in one mode (i.e., position control); When it is necessary to go offline, the signal C-MODE is closed, so that the driver works in the second mode (i.e., torque control), and because the torque command input TRQR is not wired, the motor output torque is zero, so that it can be offline.
6. The robot AC servo used in the CNC milling machine we developed works in the analog control mode, and the position signal is fed back to the computer for processing by the pulse output of the driver.
This phenomenon is caused by the wrong phase sequence of the A/B quadrature signal fed back to the computer by the driver pulse output, forming positive feedback, which can be dealt with by the following methods:
A. Modify the sampling program or algorithm;
B. Modulate A+ and A- (or B+ and B-) of the driver's pulse output signal to change the phase sequence;
C. Modify the driver parameter No45 to change the phase sequence of its pulse output signal.
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