Servo System Trouble Shooting Mechatronics General Problem Management

Servo System Trouble Shooting Mechatronics

General Problem Management Problem NO Can I identify the bad device? NO Can I handle it, now? YES Call the Change Fix the technician the device problem Can I restart from the same state YES where I stopped? NO Mechatronics Eventually wash Restart the machine, and immediately restart from step 0

Motor • Not powering on • Check DC bus low (out 7 SAM-P connector) • Not running • Check the brakes, the brakes wires and relay • Run reverse • Check U, V, W correspondence on motor side • Moving not continuously • Check the winding connector • Motor temperature alarm as soon as motor is on • With Jaw System connected the servos cannot keep the position when OFF Mechatronics • Check the resolver connector • Do NOT just revert the phases order • Check the overtemperature wires • Check the brakes: - Switch OFF the servos (step down) - Try, by hand, to move the links and, if successful, free the motor shaft and try to move it with a dynamometer key: it is a 50 Nm brake

Resolver • Motor running not correctly (see motor slide) • Check winding and resolver connector/connections • Resolver error (Main sensor measure defect) • Check impedance between: • The Home Position of the Jaw System seems wrong • Going to Home Position it is always colliding (lag error) Mechatronics • Check resolver connector and the shielding cos 1 - cos 2 and sin 1 - sin 2 and ugen 1 - ugen 2 they all should be: R<50 -100 ohm (C<3 -4 u. F L<10 m. H) • The Referencing Routine has to be performed (the axes for some reasons have lost their position relative to the mechanical stops)