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TECHNICAL GUIDE

Servo System

Startup

Cat. No. I801-E1-1

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

Содержание OMNUC H Series

Страница 1: ...TECHNICAL GUIDE Servo System Startup Cat No I801 E1 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Страница 2: ...I506 R88D RR Pulse train Input without Power Supply Finally please read this guide carefully and be sure you understand the information provided before attempting to install and startup the Servo Syst...

Страница 3: ...n Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the...

Страница 4: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Страница 5: ...TECHNICAL GUIDE Servo System Startup Cat No I801 E1 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Страница 6: ...System Startup Errors 2 4 2 3 Countermeasures Against Position Deviation 2 9 Chapter 3 Servo Driver Errors 3 1 3 1 Alarms and Countermeasures 3 2 Chapter 4 Countermeasures Against Noise 4 1 4 1 Genera...

Страница 7: ...tment 1 1 Types and Meanings of Gain 1 2 Gain Adjustment 1 3 Special Adjustment Parameters 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr...

Страница 8: ...tion loop is used to let the rotation angle of the motor reach the desired position i e the de sired rotation angle that was externally designated The speed command is output from the position loop to...

Страница 9: ...back pulses both from which the position deviation per time unit is calculated The deviation counter totals all the per time unit position deviations to obtain the position deviation of the Servo Syst...

Страница 10: ...ortional gain M Inertia ratio R AC gain See note 1 Speed loop integral gain The response characteristics of the Servo System in slow operation will change by adjusting this gain Use this gain to adjus...

Страница 11: ...sufficient gains If the machine system has a slow positioning operation or does not stop vibrating adjust the filter time constant of the current loop 2 Position Loop Adjustment S Position loop propor...

Страница 12: ...ge command changes will be made less extreme and will then be provided to the current loop The adjustment of the current comment filter will be effective if machinery vibration does not stop with the...

Страница 13: ...machine resonance point in a low frequency band In this condition the motor may vibrate at low frequency if the gains are low Adjust the proportional gain and then integral gain To avoid the resonanc...

Страница 14: ...after adjusting the speed loop Good response characteristics are obtained by increasing the position loop proportional gain provided that the overshooting or undershooting of the Servo System does not...

Страница 15: ...g Rotating Stop The shaft makes a stop in the opposite rotating direction The amount of overshooting or undershooting varies with the rotational speed of the motor Usually the higher the rotational sp...

Страница 16: ...ion Machine system with low rigidity H Semi auto tuning Function H Series The semi auto tuning function makes it possible to adjust the speed loop proportional gain and inte gral gain by just setting...

Страница 17: ...speed loop The command is output to the speed loop before position deviation pulses are accumulated thus re ducing the deviation counter value and saving positioning time Feed forward adjustment will...

Страница 18: ...Control Unit 2 1 Wiring Check 2 2 System Startup Errors 2 3 Countermeasures Against Position Deviation 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http...

Страница 19: ...H and M Series incorporate an I O monitor function Wiring mistakes can be easily found by using this function The contents of I O monitor vary with the Series Refer to the respective operation manual...

Страница 20: ...erminals if the output transistor is ON The reading of the multime ter will be 0 V if the output transistor is OFF Output Power supply Input Multimeter Voltage is ON Output transistor ON 0 V Output tr...

Страница 21: ...startup signal is ON for too short a time Note 2 The remote communications cycle time is different in timing from the program cycle time The startup signal therefore may not be detected in remote comm...

Страница 22: ...signal output terminal is damaged The deviation counter does not work even though the encoder signal continues turning ON and OFF The encoder signal input terminal is damaged Correct the cable wiring...

Страница 23: ...s or noise may be a cause of the abnormal motor operation If the motor is in abnormal operation the cause may be determined by determining the operat ing status of the motor at the time of servo lock...

Страница 24: ...roximity signal is not input while the NC Unit is set for detecting the origin proximity signal The origin proximity signal can be ignored if origin search mode 0 is selected for the NC Unit The origi...

Страница 25: ...ol Unit stops The set value of positioning completion width is too small Adjust the gains Adjust the zero adjustment of the speed command Increase the set value of posi tioning completion width Deviat...

Страница 26: ...er the machine origin will be a or b If the sensor is a proximity sensor the origin varies with the sensing distance and ambient temperature Move the position of the origin proximity sensor for a dist...

Страница 27: ...viates A joint of the machine system especially a section where parts are connected with friction devi ates Such a section can be easily found by marking it Increase the joint strength The pulse frequ...

Страница 28: ...Chapter 3 Servo Driver Errors 3 1 Alarms and Countermeasures 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Страница 29: ...an alarm occurs turn off the Servo Driver immediately after checking the mean ing of the alarm take full countermeasures and then turn on the Servo Driver Errors that may damage the Servo Driver and t...

Страница 30: ...lone Replace the cable Repair the cable The power cable had a ground fault A power line and the FG frame ground are short circuited Check the resistance of the cable alone Replace the cable Repair the...

Страница 31: ...licable to the U and H Se ries A disconnection or a wiring mistake of the External Regeneration Resistor There is a wiring mistake of the External Regeneration Resistor Wire the External Regeneration...

Страница 32: ...s A L 3 R Series OC Probable cause Item to check Countermeasure Abnormal power supply voltage The power lines are discon nected Connect the power lines correct ly The power supply voltage is not withi...

Страница 33: ...not turn on the power until the causes are checked and countermeasures are taken If the power is turned on without taking countermeasures the motor coil may burn out An alarm will go off if the outpu...

Страница 34: ...do not touch together The motor shaft bearing is rusty Replace the motor Abnormal motor current phase angle The output current with servo lock is more than 110 of the rated current without influence o...

Страница 35: ...ing The encoder dividing ratio set ting for pulse output is too small Applicable to analog input Fix the number of output pulses The electronic gear ratio is too large Applicable to pulse train input...

Страница 36: ...ures as those against motor overload Encoder or resolver malfunctions Do not turn any output signal of the encoder on and off if the volt age of the output signal between the output terminal and the p...

Страница 37: ...input is too high The frequency of the command pulse input is higher than the fre quency corresponding to the maximum allowable rotation speed Decrease the command speed The motor shaft is locked The...

Страница 38: ...heck the regeneration from the voltage waveform obtained from the terminals of the regeneration resistor Refer to Main Circuit Overvoltage on page 3 4 Connect the External Regenera tion Resistor Insuf...

Страница 39: ...untermeasures Against Noise 4 1 Generation and Types of Noise 4 2 Noise Suppression 4 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email i...

Страница 40: ...on or artificially from machine equipment Most types of noise are generated artificially and transmitted through unex pected transmission paths to other signal lines Other lines Space unexpected trans...

Страница 41: ...ge changes by intermittently turning the voltage on and off with short intervals 4 1 3 Noise Transmission Paths Noise is transmitted through the following four paths D Capacitive Coupling Path Noise s...

Страница 42: ...lectromagnetic Inductive Path Noise with radical changes creates magnetic fields around the noise Such magnetic fields induce elec tromotive force from signal lines close to the magnetic fields Such i...

Страница 43: ...may leak noise from the cable lines as shown in the illustration below Effects Radio and TV interference Radio sensor malfunctions Power supply Servo Driver Servo motor Countermeasures Against Noise C...

Страница 44: ...o the FG frame ground and check the possibility of noise transmission through radio transmission electromagnetic induction and capacitive coupling paths Cancellation of Countermeasures at Last Stage D...

Страница 45: ...te control and power lines Power supply Control equipment Servo Driver H Electromagnetic Inductive Path Countermeasure Purpose Precautions Wiring Separation of signal lines Reduction of magnetic force...

Страница 46: ...filter Power supply Control equipment Servo Driver Ground with a short thick wire Purging leakage current quickly to reduce voltage changes Use wire of 2 0 mm2 or more The wiring distance must be as...

Страница 47: ...n Control Unit and Servo Driver at a resistance of less than 100 W Incorrect grounding has a worse influence on the Servo System Applicable Models C500 NC103 NC222 E D Speed Error R Series Only Error...

Страница 48: ...ot be able to fulfill its functions because of such poor operating conditions 4 2 4 Noise Suppression Example D Phenomena Positioning deviation results in a system in which the C200H NC112 Position Co...

Страница 49: ...ower lines AC power supply Surge absorber AC power supply input Metal conduit Ground plate Ground at a resistance of less than 100 W AC Servo Driver R88D UP Power supply for command pulse use Machine...

Страница 50: ...Chapter 5 Appendix 5 1 Configuration of Main Circuitry 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Страница 51: ...in 3 1 Alarms and Counter measures to determine which part of the circuit is the cause of the error Power supply Rectification circuit Main circuit capacitor Main circuit transistor Regenera tion resi...

Страница 52: ...1 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 1 March 1997 Original pro...

Страница 53: ...ote Specifications subject to change without notice Authorized Distributor Printed in Japan AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr E...

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