1. When I turn on the power and system of my CNC milling machine, the servo motor makes a humming sound. After a few minutes, the servo motor gets hot. The sound stops when I reduce the rigidity, but the milled circles don't look round. How should I adjust it?
The issue likely stems from differing gain settings across the different drivers, causing the motor to self-excite at varying speeds. Try setting the parameters of the driver under test and the reference driver to be identical. Have you checked the inertia ratio? Gain is one factor, but inertia shouldn't be overlooked.
2. The servo driver controls the servo motor through a three-loop PID controller. The noise is relatively loud, but the motor does not vibrate. The carrier frequency is 10kHz, and the current sampling rate is 0.1µs once . Why?
The noise is caused by the lack of input pulse filtering.
3. What are the reasons why the motor cannot start and causes loud noise and vibration?
1. Disconnect the load;
2. Rotate the handle by hand to confirm it is flexible and without any abnormalities;
3. No-load start-up test;
4. Check the load status.
First, check if there is a problem with the dynamic balance, as this is the sound of current. Next, check the motor bearings, and finally the drive parameters. In most cases, it is due to loose or damaged bearings.
4. What are the causes and how should I handle the abnormal noise from the motor?
1. When the stator and rotor rub against each other, a harsh "scratching" sound will be produced, which is mostly caused by a faulty bearing. The bearing should be inspected, and any damaged bearings should be replaced. If the bearing is not damaged, but it is found that the inner or outer ring of the bearing is slipping, the bearing and end cover can be fitted or replaced.
2. The motor is running with one phase missing, making a very loud noise. Try disconnecting and then reconnecting the power to see if it can start normally. If it cannot start, one phase fuse may have blown. A phase loss can also occur if one phase of the switch or contactor contacts is not connected.
3. When a bearing is severely lacking in lubrication, a hissing sound can be heard from the bearing housing. The bearing should be cleaned and new lubricant added.
4. The fan blades hit the casing or there is debris, making a knocking sound. The fan blades should be straightened and the debris around the fan blades should be removed.
5. When the conductor bars of a squirrel-cage rotor are broken or the winding joints of a wound rotor are disconnected, a buzzing sound that fluctuates in pitch may occur, the speed may decrease, and the current may increase. This should be checked and addressed. Additionally, in some motors, the lengths of the rotor and stator are not well matched. For example, if the stator length is significantly longer than the rotor length, or if the end cover bearing holes are excessively worn, the rotor may experience axial movement, which can also produce a buzzing sound.
6. If the stator winding is connected incorrectly at the beginning and end, there will be a low roaring sound and the speed will also decrease. The connection should be checked and corrected.
The motor is making a lot of noise. What could be the cause? How can I fix it?
Reason 1: Large clearance in the motor's internal bearings. Solution: Replace the bearings.
Reason 2: Rotor cleaning treatment: Repair the stator and rotor again.
Reason 3: Loose magnet. Solution: Re-bond the magnet.
Reason 4: Motor body deflection. Solution: Readjust the motor body.
Reason 5: Oxidation, burning, oil stains, unevenness, or loose commutator segments on the surface of the motor steering gear. Solution: Clean the commutator or weld the commutator segments securely.
Reason 6: Loose carbon brushes or misaligned carbon brush holder. Solution: Adjust.
5. Why is the motor making a lot of noise? How can I fix it?
Based on the different methods of generating motor noise , it can be roughly divided into three categories :
① Electromagnetic noise; ② Mechanical noise; ③ Aerodynamic noise.
Electromagnetic noise is primarily generated by the radial weight of the stator core caused by the air gap magnetic field. It propagates through the yoke, causing the stator core to vibrate and deform. Secondly, the tangential weight of the air gap magnetic field, which is opposite to the electromagnetic torque, causes deformation and vibration of the core teeth. When the radial electromagnetic force wave approaches the stator's natural frequency, resonance occurs, greatly amplifying vibration and noise, and potentially jeopardizing the motor's lifespan.
Based on the causes of electromagnetic noise, we can use the following methods to reduce electromagnetic noise.
(1) Use sinusoidal windings as much as possible to reduce harmonic components;
(2) Select an appropriate air gap magnetic flux density. It should not be too high, but too low will affect the utilization rate of the data.
(3) Select a suitable groove to prevent the generation of low-order force waves;
(4) The rotor uses skewed slots, which are skewed by one stator slot pitch;
(5) The stator and rotor magnetic circuits are symmetrical and evenly distributed, with tight overlapping.
(6) When machining and assembling the stator and rotor, attention should be paid to their roundness and coaxiality;
(7) Be careful to avoid their resonant frequencies.
6. The newly purchased electricity is the SEW type, where the motor and reducer are connected together. It is mainly controlled by a PLC and frequency converter, and the operating speed is very low, around 25 Hz. It seems to be very noisy. The angles of the drive and driven sprockets are correct, the motor base is firmly fixed, the cooling fan and protective cover are not scratched, and the circuit breaker is loose. However, it is very noisy when it runs, just like the sound of a transformer in the community. Why is that?
That's the electromagnetic noise (squeaking) unique to inverter-driven motors. It can't be eliminated, but it can be reduced somewhat by adjusting the inverter parameters: increasing the carrier frequency will reduce the noise. However, increasing the inverter's carrier frequency will cause it to overheat. Low frequencies around 25 Hz are inherently annoying, while scraping noises are generally higher frequencies. The base should be securely fixed; the noise level depends on the type of base. Metal bases tend to be louder, and the noise will be even louder under heavy loads. Try listening carefully with a screwdriver to pinpoint the source of the noise. If the installation is fine, loud motor noise is often due to faulty bearings. New motors shouldn't have this issue; it might be inherently like that. As long as it's running normally, it's fine. Another possibility is a control problem.
7. What are the reasons for abnormal noise and overheating when the servo motor is running?
The abnormal noise indicates that the motor is overloaded, its torque is less than the torque required by the load, and its stall torque is greater than the required torque. Overheating indicates excessive motor current (overheating is generally normal), but if it gets very hot or stalls for too long, it can easily burn out the motor (motor demagnetization). Simply put, it's like a small horse pulling a heavy cart; to pull the cart, it has to work even harder, hence the overheating (increased current), making pulling difficult (abnormal noise). The abnormal noise is likely due to a damaged servo motor bearing, and the overheating is due to high current, which is essentially the servo motor generating an abnormally high current to overcome shaft vibration. The motor is probably damaged and needs to be addressed as soon as possible to prevent the problem from worsening.
8. What could be the problem if my Siemens servo motor is making a buzzing sound?
There are several reasons for this problem with servo motors. First, the servo motor encoder zero position is inaccurate, meaning the encoder zero position is drifting. Second, the driver rigidity is insufficient or the parameters are incorrect. Third, there might be a problem with the servo motor's power cable connection; the servo motor's power cable must be connected correctly, so try swapping it several times. Fourth, there might be an encoder installation problem or a problem with the encoder itself, requiring careful inspection. If you have the same servo motor and driver, it's best to swap them together. If there's a problem with the servo motor, it's best to have it repaired by a professional. The problem could also be caused by system and driver malfunctions, a faulty motor itself, or an imbalance between the driver and the actual feed system. This can usually be eliminated by adjusting the speed loop gain and integral time of the driver. The specific method is as follows:
1) Based on the specifications of the drive module and motor, set the correct current regulator for S2 on the driver's regulator board.
2) Adjust the integral time Tn of the speed regulator potentiometer (on the front of the driver) counterclockwise to the limit (Tn≈39ms).
3) Adjust the proportional Kp adjustment potentiometer of the speed regulator (on the front of the driver) to the middle position (Kp≈7~10).
4) After the above adjustments, the screeching sound of the servo motor can be eliminated, but the dynamic characteristics are still poor, and further adjustments are required.
5) Slowly rotate the integral time Tn adjustment potentiometer clockwise to reduce the integral time until the motor makes an oscillating sound.
6) Slightly rotate the integral time Tn adjustment potentiometer counterclockwise to just eliminate the motor vibration noise.
7) Keep the above locations and make a record.
After the above adjustments, the screeching sound will disappear and the machine will return to normal operation.
9. What are the reasons for the motor sweeping the room?
Motor eccentricity occurs when the rotor of a motor rubs against the silicon steel sheets in the stator windings. This is generally caused by a faulty bearing, or the bearing moving to the outer edge, or the bearing in the end cover becoming loose. It could also be caused by the rotor moving to the inner edge, or a faulty bearing on the rotor. The least likely cause is rotor bending. Bearing wear or a loose bearing housing can also cause rotor eccentricity.
Severe wear of the support ring on the motor shaft, displacement of the rotor core, or other reasons causing displacement of the stator core can result in insufficient clearance between the motor's conical rotor and stator, leading to rotor rubbing. Rotor rubbing is strictly prohibited. If rubbing occurs, the support ring should be removed and replaced, the clearance between the stator and rotor conical surfaces adjusted to be uniform, or the motor should be sent for repair.
10. What is the solution to the problem of AC servo motors vibrating during operation?
E-1E: This refers to the actual value where remote control alignment cannot be detected.
E-2E: Indicates that normal values cannot be transmitted.
E-3E: This means that the status of the currently selected cell cannot be checked.
E-4E: This means that the current operating status of the servo motor cannot be confirmed.
E-5E: This indicates that the servo motor position potentiometer is not within the adjustment range.
The shaking is abnormal; it could be due to a clogged guide rail or insufficient power. Try adjusting the power setting, lowering it slightly.
11. What parameters are typically adjusted when using a servo controller?
Different brands use different parameters and parameter definitions. The following is a summary based on the debugging of Yaskawa servos.
1. When Yaskawa servos are used in low-rigidity (1-4) load applications, the inertia ratio is very important. Taking the synchronous belt structure as an example, the rigidity is about 1-2 (or even less than 1). At this time, the inertia ratio cannot be automatically tuned, and the servo amplifier must be placed in a non-automatic tuning state.
2. The inertia ratio ranges from 450 to 1600 (depending on the load).
3. At this point, the rigidity is between 1 and 3, and can even be set to 4; however, it may sometimes be below 1.
4. Rigidity: The motor rotor's ability to resist load inertia, also known as its self-locking capability. The lower the rigidity, the weaker the motor rotor, making it more prone to low-frequency vibrations and causing the load to sway back and forth after reaching the designated position. Rigidity and inertia ratio are used together. If the rigidity is much higher than the inertia ratio matching range, the motor will experience high-frequency self-excited oscillation, manifested as a high-frequency, harsh sound. All these adverse behaviors occur when the servo signal (SV-ON) is ON and the load is connected.
5. The reason for the phenomenon of overtravel after positioning and then automatically retracting: The position loop gain is set too high, which is mainly possible under low rigidity loads.
6. Adjustment of gain for low-rigidity loads:
A. Set the inertia ratio to 600;
B. Set Pn110 to 0012; disable auto-tuning.
C. Set Pn100 and Pn102 to the minimum;
D. Set Pn101 and Pn401 to the parameters when rigidity is 1.
E. Then run JOG at a speed of 100-500.
F. Check the actual inertia ratio in the software's SETUP settings;
G. Set the observed inertia ratio to Pn103;
H, and will automatically set the rigidity, which is usually set to 1 at this time;
I. Then turn SV-ON to ON. If there is no vibration, run JOG and observe whether the motor vibrates. If there is vibration, you must reduce the Pn100 value and then repeat E and F to reset the moment of inertia ratio and reset the stiffness. Note that the stiffness should be 1 or even lower at this time.
J. When there is no oscillation when the rigidity is set to 1, gradually increase the JOG speed and appropriately reduce the setting values of Pn305 and Pn306 (acceleration and deceleration time);
K. If there is no oscillation during multiple JOG runs above 800rpm, proceed to positioning control debugging;
L. First, reduce the positioning speed to below 200 rpm for adjustment.
M, and continuously reduce the setting value of the Pn101 parameter during the debugging process;
N. If low-frequency oscillation occurs in the load after reaching the position during debugging, reduce the setting value of parameter Pn102 appropriately to adjust to the optimal positioning state.
0. Increase the speed by 100-180 rpm and observe whether the servo motor vibrates. If low-frequency oscillation of the load occurs, reduce the setting value of Pn102 appropriately. If the motor oscillates at high frequency (with a sharp sound), reduce the setting value of Pn100 appropriately, or increase the value of Pn101.
P, Explanation: Pn100 Velocity loop gain, Pn101 Velocity loop integral time constant, Pn102 Position loop gain, Pn103 Moment of inertia ratio, Pn401 Torque time constant.
7. In positioning control, in order to reduce mechanical damage to the load of low-rigidity structures, a certain acceleration and deceleration time can be added at both ends of the positioning control, especially the acceleration time; usually, depending on the maximum speed, it can be set from 0.5 seconds to 2.5 seconds (referring to the time from 0 to the maximum speed).
8. Calculation of feed per motor revolution:
A. Motor directly connected to ball screw: screw pitch
B. The motor is connected to the ball screw via a reduction gear (gear or reducer): Screw pitch × reduction ratio (number of teeth on the motor side gear divided by number of teeth on the screw).
C. Motor + reducer connected via gears and rack: Rack pitch × Number of gear teeth × Reduction ratio
D. The motor and reducer are connected via rollers: roller diameter × π × reduction ratio
E. Motor + reducer connected via gears and chain: chain pitch × number of gear teeth × reduction ratio
F. The motor and reducer are connected via synchronous pulleys and synchronous belts: synchronous belt pitch × number of teeth on the synchronous belt pulley × (number of teeth on the synchronous pulley on the motor side / number of teeth on the synchronous belt pulley on the synchronous belt side) × reduction ratio; there are a total of 3 synchronous pulleys. The motor is first driven by the synchronous pulley on the output shaft side of the motor reducer to another synchronous pulley, and then driven by the synchronous pulley to the synchronous pulley directly connected to the synchronous belt.
9. Load inertia:
A. The inertia of the motor shaft side should be within 5 to 10 times the inertia of the motor itself. If the inertia of the motor shaft side exceeds the inertia of the motor itself by a large amount, then the motor needs to output a large torque, the acceleration and deceleration process will take longer, and the response will be slower.
B. If the motor is connected to the load through a reducer, and the reduction ratio is 1/n, then the moment of inertia of the reducer's output shaft is (1/n)² the moment of inertia of the original motor shaft.
C. Inertia ratio: m = Jl/Jm The ratio of the load's inertia to the motor shaft to the motor's inertia;
D, Jl < (5~10) Jm
E. When the load inertia is greater than 10 times the motor inertia, the speed loop and position loop gains can be calculated using the following formula: Kv = 40/(m+1)7 <= Kp <= (Kv/3).
10. General adjustment (non-low rigidity load)
A. Generally, automatic tuning is used (either constant tuning or power-on tuning can be selected).
B. If manual tuning is used, after setting it to non-automatic tuning, follow these steps.
C. Set the rigidity to 1, then adjust the speed loop gain, gradually increasing it until the motor starts to oscillate. Record the gain value at which oscillation begins, and then take 50-80% as the usable value (the specific value depends on the rigidity of the load mechanism).
D. The position loop gain is generally kept at the initial set value, or it can be increased like the speed loop gain. However, when the load has a large inertia, if load vibration occurs when the load stops (negative pulses cannot be eliminated and the deviation counter cannot be cleared), the position loop gain must be reduced.
E. When the motor is running unevenly at low speed or deceleration, gradually reduce the speed loop integral time until the motor starts to vibrate. Record the value at which vibration begins and add 500 to 1000 to this value as the data for official use.
F. When the motor exhibits visually perceptible low-frequency (4-6/s) left-right vibration during servo ON (at which point the inertia setting is very large), adjust the position loop gain to approximately 10 and readjust it as described in section C.
11. Meaning and usage of adjustment parameters:
A. Position Loop Gain: Determines the number of lingering pulses in the deviation counter. The larger the value, the smaller the number of lingering pulses, the shorter the adjustment time when stopping, and the faster the response, enabling rapid positioning. However, if the value is set too high, lingering pulses will be generated in the deviation counter, resulting in a vibration sensation when stopping. When the inertia is relatively large, this gain can only be adjusted after the velocity loop gain has been adjusted; otherwise, vibration will occur.
B. Relationship between position loop gain and residual pulses: e = f/Kp, where e is the number of residual pulses; f is the command pulse frequency; Kp is the position loop gain. It can be seen that the smaller Kp is, the more residual pulses there are, and the error increases when running at high speed. When Kp is too high, e is very small, which can easily cause the deviation counter to generate a negative pulse count and vibrate during positioning.
C. Speed Loop Gain: When the inertia ratio increases, the speed response of the control system decreases and becomes unstable. Generally, the speed loop gain is increased. However, if the speed loop gain is too large, vibration (abnormal noise from the motor) will occur during operation or shutdown. In this case, the speed loop gain must be set to 50-80% of the vibration value.
D. Velocity integral time constant: Improves velocity response; increasing the velocity integral time constant can reduce overshoot during acceleration and deceleration; decreasing the velocity integral time constant can improve rotational instability.
12. What should I do if the servo motor is vibrating?
The servo motor is from Zhuhai Yunkong. Everything seems normal when the upper connecting rod is not installed; however, once the connecting rod is installed, the motor starts wobbling left and right on its own, and I couldn't get the parameters set correctly even after a long time. Note: The absence of a reducer indicates two problems:
1. The load inertia is much greater than the motor's own inertia;
2. The low stiffness of the connection between the two parts caused the load to resonate.
In this situation, the system can only be tuned very softly, meaning the rigidity needs to be reduced and the response speed slowed down. The specific method is to disable integration and simultaneously decrease the position loop gain.
To solve this problem, we need to address these two issues:
1. It is recommended to add a speed reducer, which will greatly reduce the load inertia of the motor. Japanese servo motors usually require the load/motor inertia ratio to be less than 5 : 1.
2. The connection between the load and the reducer must be secure to increase rigidity.
Both of these measures should be used simultaneously; otherwise, there's no solution if the load itself has low stiffness. In this case, even if the motor stops vibrating, the load will still vibrate during rapid start-stop.
13. How to solve the problem of load jitter caused by the servo motor suddenly stopping at the positioning point?
You could try using acceleration/deceleration pulse output commands. The sudden stop causing load jitter is a manifestation of the conflict between rotational inertia and deceleration torque; this can be mitigated but not completely eliminated. The most effective method is to allow a period of gradual deceleration before reaching the positioning point. This needs to be addressed from two aspects: fundamentally, the performance of the servo motor and on-site debugging; and the pulse generation by the PLC.
14. When using a PLC to send pulses to control a servo motor, what should be done if the motor sometimes vibrates slightly when no pulses are sent?
1. Servo parameters need to be adjusted properly, mainly: inertia and rigidity.
2. Some also require adjustments to the positional ratio, integration, and differentiation.
15. When using a programmable stepper motor for high-speed startup, there is a shaking sound and the motor fails to start. Can a servo motor solve this problem?
It's not really related to the program; it's probably due to insufficient motor inertia. I suggest replacing it with a larger stepper motor or a servo motor. A servo motor can handle overload.
16. What causes a servo motor to vibrate rapidly?
1. Servo wiring:
a. Use standard power cables, encoder cables, and control cables; check for any damage to the cables.
b. Check if there are any sources of interference near the control line, and whether it is parallel to or too close to nearby high-current power cables;
c. Check if there has been any change in the grounding terminal potential to ensure proper grounding.
2. Servo parameters:
a. The servo gain setting is too high. It is recommended to readjust the servo parameters manually or automatically.
b. Confirm the setting of the velocity feedback filter time constant. The initial value is 0, and you can try increasing the setting value.
c. The electronic gear ratio is set too high; it is recommended to restore it to factory settings.
d. Resonance between the servo system and the mechanical system; try adjusting the notch filter frequency and amplitude.
3. Mechanical system:
a. The coupling connecting the motor shaft and the equipment system is misaligned, and the mounting screws are not tightened;
b. Poor meshing of pulleys or gears can also cause load torque fluctuations. Try running it under no-load conditions. If it runs normally under no-load conditions, check for any abnormalities in the mechanical system's engagement parts.
c. Check if the load inertia, torque, and speed are too high. Try running under no-load conditions. If the no-load operation is normal, reduce the load or replace it with a driver and motor of larger capacity.
17. What causes servo motor vibration?
1. The vibration and noise of the servo motor are related to its mechanical structure (such as the brush failure that often occurs in DC servo motors), speed loop problems (improper settings of parameters such as speed loop integral gain, speed loop proportional gain, acceleration feedback gain, etc., or failure of the servo system's compensation board and amplifier board), load inertia (problems with the guide rail or lead screw), and electrical issues (brake not engaged, unstable speed loop feedback voltage).
2. When the motor is not rotating, even a small deviation will be amplified by the proportional gain of the speed loop, and the speed feedback will generate an opposite torque, causing the motor to vibrate back and forth. Reducing the integral gain will make the machine tool response sluggish and its rigidity worse. Acceleration feedback uses the motor speed feedback signal multiplied by the acceleration feedback gain (pa . 2066) to compensate for the torque command, thereby achieving vibration control of the speed loop. When the position command pulse and the feedback pulse are not equal, they jointly generate the speed pulse command. A=F*Ks, where F is the command pulse frequency; Ks is the position loop gain; and A is the acceleration pulse. Xe=F/Ks, where Xe is the position deviation pulse. Therefore, a larger gain means a larger speed and a larger inertial force; a larger gain means a smaller deviation and a greater likelihood of vibration. First, check if the brake is engaged. In the FANUC system, the following parameters can be adjusted to eliminate vibration caused by improper parameter settings: pa . 2021 (load inertia), pa . 2044 (acceleration proportional gain), pa . 2066 (acceleration feedback gain).
18. What's wrong with a servo motor making noise and oscillating back and forth around a single point?
I recently encountered a similar problem. The control card controls the servo, and I carefully observed that the X-axis lead screw is making circular motions back and forth. I don't quite understand which parameters should be adjusted to solve the problem. The MR-E servo card outputs 1000 pulses, and 1 pulse moves 10 units.
Try adjusting the speed loop and position loop gains back and forth. I encountered this situation because the speed loop gain was too low, and the integral factor was also relatively low. Reduce the position gain on the driver. Currently, the position loop gain is in automatic mode, and I recently wanted to increase the position loop gain to improve the effect of lingering pulses. Then try increasing the speed loop gain, but that might make things worse; try a larger motor. How do I adjust the servo gain using servo monitoring software? How do I analyze the system response using curves? If the parameters are adjusted correctly, will overtravel always occur at the end of the servo positioning, resulting in slight vibration? The fourth bit of parameter 2 is the mechanical resonance frequency setting; try increasing it as much as possible, which should improve the situation unless the selection is inappropriate, and the load's rotational inertia is much greater than the motor rotor's rotational inertia. Oscillations are generally caused by excessive integral action; you can also appropriately increase the position loop proportional gain during adjustment.
19. What causes servo motor vibration?
(1) The mechanical structure is not smooth and the mechanical structure is loose.
(2) The stiffness parameter of the driver is set too high, causing resonance.
(3) Insufficient servo power
(4) It is also possible that there is a problem with the adjustment of the servo control parameters, such as poor coordination between position gain and speed gain.
(5) The encoder fault feedback of the servo motor is incorrect (or the wrong type is selected) .
(6) The servo drive controller has interference signals . Dust on the drive board causes a critical short circuit .
(7) There is a problem with the windings of the motor itself .
20. What should I do about the vibration of the Yaskawa 08A servo motor?
The Yaskawa 08A servo motor causes the machine tool to vibrate and sometimes screeches during operation. I tried adjusting the rigidity using F001, which was set to 6 at the factory, but changing it to 5 or 4 didn't work. The machine tool uses a newer system, and I've also changed the rigidity gain in the system, but there haven't been any significant changes.
First, determine if the problem is with the servo system. If it is, rigid adjustment will usually help to some extent. If that doesn't work, manually adjust the speed loop: Pn110.0 = 2; Pn103 = x% (x is set according to the machine; if you don't know, try setting it to 100 or 200). Then increase the speed loop gain Pn100 (1-2000) or decrease the derivative time PN101 (15-51200). If it still doesn't work, then the problem lies with the host system.
21. How to solve the jitter fault of AC servo motor?
(1) First determine if there is a problem with the rotating parts. For example, the coupling, guide rail, etc. may cause excessive changes in the force on the servo motor, resulting in motor vibration.
(2) If the rotation is fine, then it's a parameter issue. Reduce the speed loop parameters and position loop parameters. Adjust (from small to large).
(3) Does the driver have any alarms?
(4) A faulty encoder can sometimes cause vibration.
22. How to deal with the jittering of a servo motor during operation?
The servo motor on the workbench has a normal curve during debugging, but once it is under load, it will shake back and forth in the direction of movement. When the material is discharged, you can see uniform serrations on the cut surface of the material block.
1. What is the motor power? What is the rotor moment of inertia?
2. Is a speed reducer included? Has the system undergone backlash elimination treatment?
3. What is the equivalent moment of inertia of the traditional system on the motor shaft? There are also some other relevant parameters.
The Sanyo servo drive is a fully closed-loop system. The current loop parameters, current feedforward, P parameters, and I parameters were adjusted, and the load inertia ratio was set to around 400. The lead screw is connected via a coupling. The direction of the lead screw's movement was measured using a laser interferometer. Under no load, the system analysis curve showed resonance at 700 and 2000 Hz, which was filtered out. Under load, a higher load inertia ratio resulted in denser sawtooth patterns. Reducing rigidity improved the situation but did not achieve the required performance.
(1) Has the system performed gap elimination treatment?
(2) "Reducing rigidity can improve the situation." How is the system rigidity reduced?
(3) "The system analysis curve resonates at 700 and 2000 Hz when unloaded." Can you test whether the system still has torsional vibration when loaded?
(4) Insufficient servo torque
(5) The lead of the ball screw is incorrect.
(6) The load's rotational inertia is too large, causing the motor to overshoot during operation.
23. My AB servo motor is overheating and vibrating. What should I do?
The motor's acceleration and deceleration are both above 10,000, and the motor is getting hot (the other motors are basically not hot). The motor is installed vertically, the descent distance is very short, and it bounces violently when it stops, as if it is elastic.
(1) The bearing must have radial clearance.
(2) Vertically mounted servo motors need to be equipped with brakes. If you accelerate or decelerate quickly, it may be because the motor brakes are overheating.
(3) Motor vibration may be due to rigidity issues.
(4) The encoder position is offset from zero.
24. What should I do if the servo motor keeps vibrating during rotation and after it stops?
I'm using a servo motor to drive a turntable, stopping every 180 degrees. But the turntable keeps vibrating after it stops, as if the servo motor shaft isn't locked securely. What should I do?
This seems to have a large inertia ; you could replace it with a higher-power motor or a speed reducer.
25. What should I do if the servo motor vibrates or makes abnormal noises?
After disassembling the mechanical parts, there were no abnormalities, and the connecting shaft showed no signs of friction. The motor ran without load without any issues. However, once connected to the mechanical parts, it exhibited strong vibrations and unusual noises.
Mechanical resonance is mainly caused by the mechanical parts such as the lead screw resonating with the frequency inside the servo motor, resulting in a mechanical resonance phenomenon. Generally, servo controllers have settings to shield the corresponding resonance frequencies.
Another issue is that the PID value in the servo controller can also cause mechanical resonance. You can try to automatically calculate the PID value first. If it still doesn't work properly, you can manually adjust it until the servo controller is functioning correctly. These two points can generally resolve the resonance phenomenon caused by the servo.
26. How to deal with vibration in a Panasonic servo motor (motor vibration when the load is slightly large)?
1. Is the inertia ratio set properly? The motor inertia may be too small. 2. Is the gain setting too high?
27. Possible causes of vibration in Mitsubishi servo motors?
1. Servo load is too high (servo size is too small) 2. Servo rigidity is not properly adjusted 3. Lead screw is not properly selected
