The failure of the vigorous movement of the Chi Fuji Koshi robot

Create Date: 2024-8-30 12:03:23|Source: NACHI / Nachi Fujikoshi

A customer who makes glassware, when the robot is powered on and running, it is still normal when it first moves slightly, but when it moves with large fluctuations, it begins to oscillate violently, and the oscillation fluctuates greatly, and he feels like he is going to fall to the ground, so he quickly stops the machine and turns off the power in a panic.

The failure of the vigorous movement of the Chi Fuji Koshi robot

Repair process

1) In the case that the main control loop of the servo controller is out of power, manually rotate the shaft of the motor, check the display of the operating system and find that the specific azimuth value can be correctly displayed on the display screen of the operating system, indicating that the signal output of the azimuth encoder is correct

2) Because the pitch of the Z-axis ball screw of this CNC lathe is 5 mm, if the Z-axis moves up and down 2 mm, a sensation will occur, therefore, the root cause of the problem is likely to be related to the specific orientation of the motor rotor of the motor, that is, the motor rotor orientation check signal C1, C2, C4 and C8 signals of the pulse encoder are abnormal

According to the above analysis, fully considering that the Z-axis can move up and down normally by 2.5 mm, which is equivalent to the specific rotation of the motor by 180, therefore, the further judgment of the direction of the problem is that there is an abnormality in the C8 in the motor rotor orientation check signal. According to the same method as the above example, after taking out the pulse encoder, according to the connection requirements of the encoder, after adding DC5V to the leading angles N/T AND J/K, the encoder shaft is rotated, and the CI, C2, C4, and C8 are measured by a multimeter table, and the condition of C8 is found to be unchanged, and it is confirmed that there is a problem with the motor rotor orientation check signal C8 of the encoder.

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