Servo motor refers to the engine that controls the operation of mechanical components in the servo system, and is a kind of auxiliary motor indirect transmission device. The main function is to use it in a closed ring, transmit the signal to the system at any time, and at the same time correct its own operation with the signal given by the system.
In the process of servo motor use, due to the aging of the machine, as well as improper use and other problems, there will be some small faults in the process of servo motor use, and the motor has been shaking is a common kind of small fault, some people will ask, after the servo motor is turned on, what is the reason why the motor has been shaking? This phenomenon illustrates two problems:
1. The load inertia is much greater than the inertia of the motor itself
2. The stiffness of the two-part connection is low, so that the load resonates
In this case, the system can only be adjusted very softly, that is, the rigidity should be lowered and the reaction speed should be slowed down. This is done by turning off the integration and decreasing the position ring gain.
If you want to solve these two problems, you need to start with them
1. It is recommended to add a reducer, so that the load conversion to the inertia of the motor is greatly reduced, and Japan servo usually requires the load/motor inertia ratio to be less than 5:1
2. The connection between the load and the reducer should be firm to increase the stiffness.
The above two measures should be used at the same time, if the load itself has low stiffness, there is no way. In this case, even if the motor is not vibrating, the load will vibrate during a quick start and stop.
The following will tell you about the causes of servo motor jitter and how to deal with it.
1. Reason: asymmetrical winding. Solution: Check the motor wiring.
2. Cause: drive or motor failure. Solution: Replace the driver or motor.
3. Reason: The speed is at the resonance point. Solution: Avoid resonance points.
4. Reason: This is calculated that the load inertia ratio of the motor shaft to the rotor inertia exceeds 5.
How to deal with it?
(1) Servo wiring:
a. Use standard power cables, encoder cables, control cables, and whether the cables are damaged;
b. Check whether there is an interference source near the control line, and whether it is parallel to or too close to the nearby high-current power cable;
c. Check whether there is any change in the potential of the grounding terminal to ensure that the grounding is good.
(2) Servo parameters:
a. The servo gain setting is too large, it is recommended to readjust the servo parameters manually or automatically;
b. Confirm the setting of the time constant of the velocity feedback filter, the initial value is 0, you can try to increase the setting value;
c. The electronic gear ratio is too large for the setting, it is recommended to restore to the factory settings;
d. Resonance of the servo system and the 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 occlusion of pulleys or gears will also lead to load torque changes, try no-load operation, if no-load operation is normal, check whether the joint part of the mechanical system is abnormal;
c. Confirm whether the load inertia, torque and rotational speed are too large, try to run at no load, if the operation at no load is normal, reduce the load or replace the drive and motor with a larger capacity. |
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