FANUC 數字伺服參數設定、主要參數調整及維修

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FANUC 數字伺服參數設定、主要參數調整及維修.pdf (2.12 MB, 售價: 5 E幣)

2019-10-11 14:02 上傳

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目錄
1．伺服參數的設置................................................................................................................6
1-1. 數字伺服框圖及工作原理.........................................................................................6
1-2. 與數字伺服相關的參數 .............................................................................................8
1-3. 數字伺服畫面調用 ...................................................................................................12
對于 Series 0-C/0D..................................................................................................12
對于 Series 15-A/B, 15i ..........................................................................................12
對于 Series 16, 18, 20, 21 .....................................................................................12
1-4 數字伺服參數的初始化設置....................................................................................14
2. 維修過程中主要伺服參數的調整 .................................................................................21
2-1 停止時震蕩相關調整參數.........................................................................................21
2-1-1. 開通速度環的比例增益高速處理有效 ..........................................................21
2-1-2. 使用 250μs 加速反饋功能 ..............................................................................22
2-1-3. 改變停止時的比例增益 ...................................................................................22
2-1-4. 使用 N 脈沖抑制功能.......................................................................................23
2-1-5. 若有低頻波動，增加負載慣量比...................................................................24
2-1-6. 將負載慣量比恢復到初始值（選擇電機規格號后，系統自動設定的值）
..........................................................................................................................................24
2-1-7. 不斷增加速度環的比例增益（PK2V）........................................................24
2-1-8. 降低位置環增益................................................................................................24
2-2 運動中震蕩相關調整，參數....................................................................................25
2-2-1. TCMD 轉矩指令過濾器....................................................................................26
2-2-2. 采用雙位置環控制（受功能參數限制） ......................................................27
2-2-3. 振動抑制功能....................................................................................................29
2-2-4. 采用機械速度反饋功能 ...................................................................................31
2-2-5. 精加、減速功能有效........................................................................................32
2-3 全閉環運動中震蕩相關調整參數 ............................................................................34
2-3-1．按靜止時的振蕩調整.......................................................................................34
2-3-2．雙位置環反饋功能...........................................................................................34
2-3-3．使機械速度反饋功能有效（參見上一節） .................................................34
2-3-4．降低位置環增益...............................................................................................34
2-4 累計進給......................................................................................................................35
2-4-1. 若無超調 ............................................................................................................35
2-4-2. 取消超調 ............................................................................................................35
2-4-3. 使 PI 控制有效，增加速度環增益（PK1V）..............................................35
2-4-4. 調整速度環積分增益........................................................................................35
2-5 超調時相關調整參數 ................................................................................................36
2-5-1．使 PI 控制有效 .................................................................................................36
2-5-2．增加負載慣量比...............................................................................................40
2-5-3．使超調抑制功能有效，調整速度環增益（PK3V） ..................................40
2-5-4．刪掉第 3 步中的設定值，只調整速度環的增益（PK3V）......................40
2-5-5．超調抑制功能 2 有效 ......................................................................................41
3．IB/IC/18I 系列 FSSB 的設置........................................................................................42
3-1 概述 ..............................................................................................................................42
3-2．手工設定 1 ...............................................................................................................43
3-3 自動設定 .....................................................................................................................44
3-3-1． 在放大器設定畫面。 ....................................................................................44
3-3-2． 按[SETING]軟鍵。........................................................................................44
3-3-3． 在軸設定畫面上.............................................................................................44
3-3-4． 按[SETING]鍵。............................................................................................44
⑴．放大器設定畫面.................................................................................................45
⑵．軸設定畫面 .........................................................................................................46
⑶．放大器的維護畫面.............................................................................................47
4．伺服報警與故障處理 .....................................................................................................56
4-1 伺服的基本連接和電壓規格.....................................................................................56
4-2 報警顯示（CRT/LCD 報警內容）..........................................................................58
4-3 電源單元狀態燈說明 .................................................................................................62
4-4 電源單元七段顯示管報警.........................................................................................64
4-5 伺服放大器模塊的報警 ............................................................................................67
4-5-1 異常電流報警 (七段顯示管 8, 9, A, b, C, d, 和 E 報警) ..........................69
4-5-2 伺服報警燈 2 號報警，輸入功率電壓低報警................................................69
直流環電壓低報警 （七段顯示管 5 報警）.......................................................69
4-5-3 伺服放大器風扇故障 （七段顯示管 1 報警）............................................69
5 主軸模塊（七段顯示管）報警.......................................................................................70
5-1 初始化燈不亮..............................................................................................................72
5-2 主軸放大器模塊七段顯示報警分類 .......................................................................73
5-2-1 Alarm code 01 .................................................................................................74
5-2-2 Alarm code 02 .................................................................................................74
5-2-3 Alarm code 03 .................................................................................................75
5-2-4 Alarm code 04 .................................................................................................75
5-2-5 Alarm code 07 .................................................................................................75
5-2-6 Alarm code 09 .................................................................................................76
5-2-7 Alarm code 11..................................................................................................76
5-2-8 Alarm code 12 .................................................................................................76
5-2-9 Alarm code 13 .................................................................................................77
5-2-10 Alarm code 15...............................................................................................77
5-2-11 Alarm code 16 ...............................................................................................78
5-2-12 Alarm codes 19 and 20...............................................................................78
5-2-13 Alarm code 24...............................................................................................78
5-2-14 Alarm code 25...............................................................................................78
5-2-15 Alarm code 26...............................................................................................79
5-2-16 Alarm code 27...............................................................................................80
5-2-17 Alarm code 29...............................................................................................80
5-2-18 Alarm code 30...............................................................................................81
5-2-19 Alarm code 31...............................................................................................81
5-2-20 Alarm code 32...............................................................................................82
5-2-21 Alarm code 33...............................................................................................82
5-2-22 Alarm code 34...............................................................................................82
5-2-23 Alarm code 35...............................................................................................83
5-2-24 Alarm code 36...............................................................................................83
5-2-25 Alarm Code 39..............................................................................................84
5-2-26 Alarm code 40...............................................................................................84
5-2-27 Alarm code 41...............................................................................................85
5-2-28 Alarm code 42...............................................................................................86
5-2-29 Alarm code 43...............................................................................................86
5-2-30 Alarm code 44...............................................................................................86
5-2-31 Alarm code 46...............................................................................................86
5-2-32 Alarm code 47...............................................................................................86
5-2-33 Alarm code 49...............................................................................................88
5-2-34 Alarm code 50...............................................................................................88
5-2-35 Alarm code 51...............................................................................................88
5-2-36 Alarm codes 52 and 53...............................................................................88
5-2-37 Alarm code 54...............................................................................................89
5-2-38 Alarm code 55...............................................................................................89
5-2-39 Alarm code 56...............................................................................................89
5-2-40 Alarm code 57...............................................................................................89
5-2-41 Alarm code 58...............................................................................................89
5-2-42 Alarm code 59...............................................................................................90
6．伺服報警診斷..................................................................................................................91
6-1．伺服畫面中的報警 ..................................................................................................91
6-2．報警內容說明 ..........................................................................................................93
6-3．詳細報警分析及解決方案......................................................................................94
6-3-2．反饋斷線報警 ...................................................................................................96
6-3-3．過熱報警 ...........................................................................................................97
6-3-4．無效的伺服參數設定.......................................................................................97
6-3-5．串行編碼器報警...............................................................................................98
6-3-6．其他報警 ...........................................................................................................99
6-4．伺服軟斷線報警主要調整參數 .......................................................................... 101
7．如何更換保險和交換線路板...................................................................................... 103
7-1．模塊結構（拆裝方法）....................................................................................... 103
7-1-1．60/90 mm 寬模塊........................................................................................ 104
7-1-2．150 mm Width Module (without the Connector Module) .................... 105
7-2．保險的更換............................................................................................................ 108
7-2-1．電源模塊保險的更換.................................................................................... 108
7-2-2．放大模塊（伺服模塊和主軸模塊）............................................................ 111
7-3 其他部分 ...................................................................................................................113
7-3-1． 主軸放大器 ROM 和主軸傳感器模條的更換 .......................................113

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