1. Sinusoidal pulse width modulation
Sinusoidal Pulse Width Modulation (SPWM) is characterized by simple structure of control circuit, low cost, good hardness of mechanical characteristics, and can meet the smooth speed regulation requirements of general transmission, and has been widely used in various fields of the industry.
However, in this control mode, at low frequency, due to the low output voltage, the torque is significantly affected by the voltage drop of the stator resistance, so that the maximum output torque is reduced. In addition, its mechanical characteristics are not as hard as DC motors, dynamic torque ability and static speed regulation performance are not satisfactory, and the system performance is not high, the control curve will change with the change of load, the torque response is slow, the motor torque utilization rate is not high, and the performance decreases due to the existence of stator resistance and inverter dead zone effect at low speed, and the stability deteriorates.
2. Voltage Space Vector (SVPWM)
Voltage Space Vector (SVPWM) It is based on the premise of the overall generation effect of the three-phase waveform, and the purpose is to approximate the ideal circular rotating magnetic field trajectory of the motor air gap, and the three-phase modulation waveform is generated at one time, and the inscribed polygon is controlled by approximating the circle.
After practical use, it has been improved, that is, the introduction of frequency compensation, which can eliminate the error of speed control; The flux amplitude is estimated through feedback, and the influence of stator resistance at low speed is eliminated. The output voltage and current are closed to improve the accuracy and stability of the dynamics.
3. Direct torque control (DTC) mode
Direct Torque Control (DTC) This technology solves the shortcomings of the above-mentioned vector control to a large extent, and has been rapidly developed with novel control ideas, concise and clear system structure, and excellent dynamic and static performance. At present, this technology has been successfully applied to the high-power AC transmission of electric locomotive traction.
Direct torque control directly analyzes the mathematical model of the AC motor in the stator coordinate system, and controls the flux and torque of the motor. It does not need to equate an AC motor to a DC motor, thus eliminating many complex calculations in vector rotation transformations; It does not need to mimic the control of a DC motor, nor does it need to simplify the mathematical model of an AC motor for decoupling.
4. Matrix communication-traffic control mode
Matrix AC-AC control mode VVVF frequency conversion, vector control frequency conversion, and direct torque control frequency conversion are all one of the AC-DC-AC frequency conversion. Its common disadvantages are that the input power factor is low, the harmonic current is large, the DC circuit requires a large energy storage capacitor, and the regenerative energy cannot be fed back to the power grid, that is, it cannot carry out four-quadrant operation. For this reason, matrix alternating frequency-alternating frequency came into being. Because the matrix AC-AC frequency conversion eliminates the intermediate DC link, the large and expensive electrolytic capacitor is eliminated.
Because the matrix AC-AC frequency conversion eliminates the intermediate DC link, the large and expensive electrolytic capacitor is eliminated. It can achieve a power factor of L, an input current of sinusoidal and four-quadrant operation, and a high power density of the system. This technology is not mature at present, and its essence is not to indirectly control the amount of current, flux, etc., but to realize the torque directly as the controlled quantity.
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Yaskawa Servo Alarm C90 (AC9) Alarm Cause Analysis and Solution
1. Analysis of the causes of Yaskawa servo alarm C90 (AC9):
1. The encoder cable is broken or the encoder plug is made in poor process (there are also wiring errors in the alarm of the new machine);
2. The servo drive itself is faulty;
3. Environmental interference, caused by poor connection: ...
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Yaskawa Robotics School Origin Steps
1. Yaskawa robot teach pendant key switch to manual Teach mode - main menu - system information - security mode
2. Management mode - password - 999999999
3. Robot - Origin location
4. Open the door of the robot control cabinet and there is a mechanical prototype with 6 axes of the robot on the side.
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Common faults and solutions of Yaskawa servo drives
1. When the oscilloscope checks the current monitoring output of the driver, it is found that it is all noise and cannot be read;
Cause of failure: The current monitoring output is not isolated from the AC power supply (transformer).
Solution: It can be detected and observed with a DC voltmeter.
2. Motor ...
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Yaskawa servo drive failure and repair
1. The motor runs faster in one direction than in the other;
(1) Cause of failure: The phase of the brushless motor is wrong.
Solution: Detect or detect the correct phase.
(2) Cause of failure: When not used for testing, the test/deviation switch hits the test position. ...
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Yaskawa inverter fault display Ou how to deal with the fault when running at high speed
1. The cause of the failure may be that the power plug is not plugged in properly.
Solution: Check and plug in the power plug.
2. The sensor is damaged and the resistance value is wrong.
Solution: Replace the sensor.
3. The fuse is blown out.
Solution: Repair and replace the fuse ...
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How to use the inverter and adjust the parameters
First, the use of the inverter:
(1) First connect the power supply, link the inverter with the motor, and ensure that the working voltage of the inverter and the power of the motor meet the requirements.
(2) Set the parameters of the inverter, adjust the speed and load of the motor to ensure the normal operation of the motor.
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Yaskawa inverter wiring attention
Attention to the wiring of the inverter
1. The inverter itself has strong electromagnetic interference, which will interfere with the work of some equipment, so we can add a cable sleeve to the output cable of the inverter.
2. The control line in the inverter or control cabinet is at least 100mm away from the power cable, etc.
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The frequency of the frequency converter is given in a given way
1. The simplest way to give the frequency of the inverter is to complete it through the operation panel, and users can usually change the set frequency directly through the potentiometer, digital key or rising and descending keys on the generator panel. The biggest advantage given by the operator panel is that it is simple, ...
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Yaskawa Electric – inspection work before motor operation
(1) Check and remove the dust and debris on the motor;
(2) Check whether the voltage, frequency and power supply voltage and frequency on the nameplate of the motor are consistent with the actual situation, and whether the connection method is correct.
(3) Use the insulation resistance meter to measure the phase and phase and phase of the motor winding.
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Maintenance method of Yaskawa inverter
Checkpoints for daily use
When inspecting and maintaining the inverter on a daily basis, it is necessary to check the temperature and humidity around you. Excessive temperature will lead to overheating alarms, and in serious cases, it may also lead to damage to some components or short circuits in the circuit. And the humidity in the air ...
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Yaskawa robot maintenance method
1. When the oscilloscope checks the current monitoring output of the driver, it is found that it is all noise and cannot be read;
Cause of failure: The current monitoring output is not isolated from the AC power supply (transformer).
Solution: It can be detected and observed with a DC voltmeter.
2. Motor ...
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Yaskawa welding robot has several advantages
In the case of the growing demand for industrial production, the relatively high cost of manual welding, the small number of welders, and the difficulty of recruiting welders, Yaskawa welding robot provides a perfect solution for welding, and the emergence of industrial robots is undoubtedly a good choice, which has many advantages.
Appear...
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Yaskawa inverter common fault--GF-ground fault
In addition to eliminating the cause of the problem of motor grounding, the most likely part of the failure is the Hall sensor, which is affected by environmental factors such as temperature and humidity, and the working point is easy to drift, resulting in GF alarm.
Produce...
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Precautions for the use of Yaskawa servo drives
1. The correct shielding grounding point is at the reference potential point inside the circuit, which depends on whether the noise source and the receiver are grounded or floating at the same time.
2. Make sure that the shield is grounded at the same point so that the ground current will not flow through the shield.
3. Avoid multiple connections ...
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Wiring method of Yaskawa A1000 inverter
First, the wiring of the main circuit
1. The power supply should be connected to the R, S, and T terminals at the input end of the inverter, and must not be connected to the output terminal (U, V, W) of the inverter, otherwise the inverter will be damaged. After wiring, the fragmented wires must be cleaned, and the fragmented wires may cause abnormalities.
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The phenomenon that occurs when the various parts of Yaskawa inverter are damaged
1) Main control board
When the main control board is damaged, the operation panel may not be displayed, the motor may be sluggish, and there will be jitter during the operation, or there may be no action. External instructions are not acceptable, the multifunction input signal is not displayed (there is no change in U1-10).
2) Driver board
...
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What are the main models of Yaskawa robots?
Yaskawa robot models are mainly as follows:
Product 1, Yaskawa Robotics SEMISTAR-M, V series--MCL, MFL, MFS series MCL165
The MCL165 is suitable for handling large and heavy loads in clean rooms. The maximum load weight is 165KG, and the cleanliness reaches ISO6 level.
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Yaskawa robot origin lost
There are two scenarios in which the origin of the Yaskawa robot is lost:
A. Loss of the origin of individual shafts; B. Lose all axis origins.
All axes are created at the same time: When the combination of the robot and the control cabinet is changed, all axes are registered at the origin position at the same time.
Each axis is created separately: change the motor or ...
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Analysis of common alarm codes for Yaskawa robot servo drive maintenance
1. A.00 Absolute value data error: the absolute value data cannot be accepted or the accepted absolute value data is abnormal.
2. A.02 Parameter Destruction: The result of the "sum number check" of the user constant is abnormal.
3. A.04 User constant setting error: the set "user constant" exceeds the set ...
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What are the reasons for Yaskawa servo A71 alarm in addition to overload?
1. It occurs when the power is turned on
It's a servo unit fault
2. On servo on is happening
It is an abnormal wiring of the motor (there is a connection problem or there may be a wrong wire, I encountered a wrong phase)
3. The encoder wiring is abnormal
Servo unit failure
4. Re-enter the finger ...
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