TC625方式区别ABB机器人伺服电机修理做方位操控运转报超速故障，怎么处理？
伺服Run信号一接入就发作：查看伺服电机动力电缆和编码器电缆的配线是否正确，有无破损。
输入脉冲指令后在高速运转时发作：操控器输出的脉冲频率过大，修正程序调整脉冲输出的频率；电子齿轮比设置过大；伺服增益设置太大，测验从头用手动或主动方法调整伺服增益 

5、ABB机器人伺服电机修理几种故障没有带负载报过载，怎么处理？

假如是伺服Run（运转）信号一接入而且没有发脉冲的情况下发作：
查看伺服电机动力电缆配线，查看是否有接触不良或电缆破损；假如是带制动器的伺服电机则必须将制动器翻开；速度回路增益是否设置过大；速度回路的积分时间常数是否设置过小。

假如伺服只是在运转过程中发作：
方位回路增益是否设置过大；定位完成幅值是否设置过小；查看伺服电机轴上没有堵转，并从头调整机械。

6、ABB机器人伺服电机修理几种故障运转时出现反常声音或颤动现象，怎么处理？
伺服配线：
运用规范动力电缆，编码器电缆，操控电缆，电缆有无破损；查看操控线附近是否存在干扰源，是否与附近的大电流动力电缆互相平行或相隔太近；查看接地端子电位是否有发作变化，实在确保接地杰出。

伺服参数：
伺服增益设置太大，主张用手动或主动方法从头调整伺服参数；承认速度反应滤波器时间常数的设置，初始值为0，可测验增大设置值；电子齿轮比设置太大，主张恢复到出厂设置；伺服体系和机械体系的共振，测验调整陷波滤波器频率以及幅值。

机械体系：
衔接电机轴和设备体系的联轴器发作偏移，安装螺钉未拧紧；滑轮或齿轮的咬合不良也会导致负载转矩变化，测验空载运转，假如空载运转时正常则查看机械体系的结合部分是否有反常；承认负载惯量，力矩以及转速是否过大，测验空载运转，假如空载运转正常，则减轻负载或替换更大容量的驱动器和电机。本特利bently3500在钢铁电力化工石化行业的应用和振动监测的测点
 
　　压缩机归属于通用设备类，较优应用于钢铁、电力、冶金、化工、石化等企业。以下是电机通过齿轮箱拖动压缩机机组使用本特利振动保护系统的配置事例，供大家参考。
 
　　压缩机组：电机，齿轮箱，压缩机
 
　　本特利bently3500典型的振动测点布置如下：
 
　　电机前后轴承箱安装有壳振传感器，用于测量电机轴承的j对振动。齿轮箱的低速端和gao速端分别安装有壳振传感器，用于测量齿轮箱的j对振动。压缩机前后X-Y方向涡流传感器系统，用于监测轴振动。另外，也使用了一套涡流传感器系统测量压缩机轴位移，以及一套涡流传感器系统测量监测键相。振动监测产品系统配置如下：
 
　　离心式压缩机–蒸汽透平拖动
 
　　对于工作在危险区域的机组，本特利传感器及监测系统都要带有多机构批准单位选项。而对于工作在安全区的机组，则不做要求。
 
　　1.测点配置要求
 
　　键相：压缩机组的每个相同转速的轴系配置一个键相位测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴振：每个滑动支持轴承上配置一对X/Y方向（互为垂直安装）的轴振测点，采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴位移：压缩机组的每个推力轴承处配置双冗余的轴向位移测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　瓦振（可选）：每个滚动支持轴承上配置两个瓦振测点（水平和垂直方向安装），采用本特利330500系列Velomitor压电式振动速度传感器进行测量。
 
　　齿轮箱壳振（如适用）：每个齿轮箱的输入和输出轴的支持轴承处各配置一对X/Y方向壳振测点；采用本特利330400系列压电式振动加速度传感器进行测量。
 
　　超速保护（可选）：每台压缩机组上配置三冗余的超速保护测点，采用3300XL系列电涡流传感器进行测量。2.本特利bently3500配置要求
 
　　每套关键压缩机组配备本特利3500框架；本特利bently35003500/15电源模块；
 
　　本特利bently35003500/22M瞬态数据接口模块；本特利bently35003500/25键相模块
 
　　针对上述轴振、轴位移、瓦振、及壳振测点，本特利bently35003500/42M监测器模块
 
　　（如适用），超速保护监测测点，需采用3500/53三冗余监测模块，每个监测通道（轴振、轴位移和瓦振）配置d立的两个继电器输出通道；采用本特利bently35003500/32（4通道）或3500/33（16通道）继电器模块，本特利bently35003500/92Modbus通讯网关
 
　　对于工作在危险区的机组，接入现场信号的3500监测器模块要带有内置安全栅；并且3500框架内要配置3500/04本安接地模块。
 
　　离心式压缩机–电动机拖动
 
　　对于工作在危险区域的机组，本特利传感器及监测系统都要带有多机构批准单位选项。而对于工作在安全区的机组，则不做要求。
 
　　1.本特利bently3500对机组的振动监测状态监测测点配置要求
 
　　键相：压缩机组的每个相同转速的轴系配置一个键相位测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴振：每个滑动支持轴承上配置一对X/Y方向（互为垂直安装）的轴振测点，采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴位移：压缩机组的每个推力轴承处配置双冗余的轴向位移测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　瓦振：每个滚动支持轴承上配置两个瓦振测点（水平和垂直方向安装），采用本特利330500系列Velomitor压电式振动速度传感器进行测量。
 
　　轴承温度（如适用）：每个滑动支持轴承及推力轴承均配置轴瓦温度测点；推力轴承的工作面和非工作面应同时配置温度测点。
 
　　齿轮箱壳振（如适用）：每个齿轮箱的输入和输出轴的支持轴承处各配置一对X/Y方向壳振测点；采用本特利330400系列压电式振动加速度传感器进行测量。
 
　　2.本特利bently3500配置要求
 
　　每套关键压缩机组配备的本特利3500框架
 
　　每个本特利3500框架内配置冗余的3500/15电源模块
 
　　每个本特利3500框架内配置3500/22M瞬态数据接口模块；
 
　　针对上述键相测点，每套机组的本特利3500框架内配置相应的3500/25键相模块
 
　　针对上述轴振、轴位移、瓦振、及壳振测点，均须配置相应的3500/42M监测器模块
 
　　（如适用），上述轴承温度测点，需配置相应的3500/60、61温度监测模块，或3500/62过程量监测模块
 
　　每个监测通道（轴振、轴位移和瓦振）配置D立的两个继电器输出通道；采用3500/32（4通道）或3500/33（16通道）继电器模块
 
　　每个本特利3500框架内配置一个3500/92Modbus通讯网关
 
　　对于工作在危险区的机组，接入现场信号的3500监测器模块要带有内置安全栅；并且3500框架内要配置3500/04本安接地模块。
 
　　螺杆压缩机
 
　　对于工作在危险区域的机组，本特利传感器及监测系统都要带有多机构批准单位选项。而对于工作在安全区的机组，则不做要求。
 
　　1.本特利bently测点配置要求
 
　　键相：压缩机组的每个相同转速的轴系配置一个键相位测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴振：每个滑动支持轴承上配置一对X/Y方向（互为垂直安装）的轴振测点，采用本特利3300XL系列电涡流传感器进行测量。
 
　　轴位移：压缩机组的每个推力轴承处配置双冗余的轴向位移测点；采用本特利3300XL系列电涡流传感器进行测量。
 
　　瓦振：每个滚动支持轴承上配置两个瓦振测点（水平和垂直方向安装），采用本特利330500系列Velomitor压电式振动速度传感器进行测量。
 
　　轴承温度（如适用）：每个滑动支持轴承及推力轴承均配置轴瓦温度测点；推力轴承的工作面和非工作面应同时配置温度测点。
 
　　齿轮箱壳振（如适用）：每个齿轮箱的输入和输出轴的支持轴承处各配置一对X/Y方向壳振测点；采用本特利330400系列压电式振动加速度传感器进行测量。
 
　　2.3500配置要求
 
　　每套关键压缩机组配备本特利3500框架
 
　　每个本特利3500框架内配置冗余的3500/15电源模块
 
　　每个本特利3500框架内配置3500/22M瞬态数据接口模块（RJ45网络接口）
 
　　针对上述键相测点，每套机组的本特利3500框架内配置相应的3500/25键相模块
 
　　针对上述轴振、轴位移、瓦振、及壳振测点，均须配置相应的3500/42M监测器模块
 
　　（如适用），上述轴承温度测点，需配置相应的3500/60、61温度监测模块，或3500/62过程量监测模块
 
　　每个监测通道（轴振、轴位移和瓦振）配置D立的两个继电器输出通道；采用3500/32（4通道）或3500/33（16通道）继电器模块
 
　　每个本特利3500框架内配置一个3500/92Modbus通讯网关
 
　　对于工作在危险区的机组，接入现场信号的3500监测器模块要带有内置安全栅；并且3500框架内要配置3500/04本安接地模块。API618往复式压缩机
 
　　对于工作在危险区域的机组，本特利传感器及监测系统都要带有多机构批准单位选项。而对于工作在安全区的机组，则不做要求。
 How to deal with the overspeed fault reported by ABB robot servo motor maintenance for azimuth operation?

Once the servo run signal is connected, it will happen: check whether the wiring of the servo motor power cable and encoder cable is correct and whether there is damage.

After the pulse command is input, it occurs at high speed: the pulse frequency output by the controller is too high, and the correction program adjusts the frequency of the pulse output; The electronic gear ratio is set too large; The servo gain setting is too large. Test to adjust the servo gain manually or actively from the beginning



5. How to deal with several failures of ABB robot servo motor that are not reported overload with load?



If the servo Run signal is connected and no pulse is sent:

Check the power cable wiring of the servo motor to see if there is poor contact or cable damage; If it is a servo motor with brake, the brake must be turned over; Whether the speed loop gain is set too large; Whether the integral time constant of the speed loop is set too small.



If the servo only occurs during operation:

Whether the gain of azimuth loop is set too large; Whether the amplitude of positioning completion is set too small; Check that there is no locked rotor on the servo motor shaft, and adjust the machine from the beginning.



6. How to deal with the abnormal sound or vibration of ABB robot servo motor when it runs in repair of several faults?

Servo wiring:

Whether the power cable, encoder cable, control cable and cable are damaged; Check whether there are interference sources near the control line and whether they are parallel to or too close to the nearby high current power cables; Check whether the potential of the grounding terminal changes suddenly to ensure excellent grounding.



Servo parameters:

If the servo gain is set too large, it is recommended to manually or actively adjust the servo parameters from the beginning; Acknowledge the setting of the time constant of the speed response filter. The initial value is 0, and you can test to increase the setting value; The electronic gear ratio is set too large, so it is recommended to restore to the factory setting; Resonance of servo system and mechanical system, test and adjust the frequency and amplitude of notch filter.



Mechanical system:

The coupling connecting the motor shaft and the equipment system deviates, and the mounting screws are not tightened; Poor engagement of pulleys or gears will also cause load torque changes. Test no-load operation. If it is normal during no-load operation, check whether the combination part of the mechanical system is abnormal; Recognize whether the load inertia, torque and speed are too large, and test the no-load operation. If the no-load operation is normal, reduce the load or replace the driver and motor with larger capacity. Application of Bently 3500 in steel, electric power, chemical and petrochemical industry and measuring points for vibration monitoring



The compressor belongs to the general equipment category, which is better used in steel, power, metallurgy, chemical, petrochemical and other enterprises. The following is a configuration example of Bentley vibration protection system used by the motor to drive the compressor unit through the gearbox for your reference.



Compressor unit: motor, gearbox, compressor



Typical vibration measuring points of Bently 3500 are arranged as follows:



The front and rear bearing boxes of the motor are equipped with shell vibration sensors to measure the j pair vibration of the motor bearings. The low speed end and gao speed end of the gearbox are respectively equipped with case vibration sensors to measure the j pair vibration of the gearbox. The front and rear X-Y direction eddy current sensor system of the compressor is used to monitor shaft vibration. In addition, a set of eddy current sensor system is also used to measure the compressor shaft displacement, and a set of eddy current sensor system is used to measure and monitor the key phase. The system configuration of the vibration monitoring product is as follows:



Centrifugal Compressor – Steam Turbine Drive



For units working in hazardous areas, Bentley sensors and monitoring systems should have the option of multi agency approval units. There is no requirement for the units working in the safe area.



1. Requirements for measuring point configuration



Keyphasor: each shafting of the compressor unit at the same speed is equipped with a Keyphasor measuring point; Bentley 3300XL series eddy current sensor is used for measurement.



Shaft vibration: each sliding support bearing is equipped with a pair of shaft vibration measuring points in X/Y direction (installed vertically to each other), which are measured by Bentley 3300XL series eddy current sensors.



Axial displacement: each thrust bearing of the compressor unit is equipped with double redundant axial displacement measuring points; Bentley 3300XL series eddy current sensor is used for measurement.



Bearing vibration (optional): each rolling support bearing is equipped with two bearing vibration measuring points (installed horizontally and vertically), which are measured by Bentley 330500 series Velomitor piezoelectric vibration velocity sensor.



Gearbox shell vibration (if applicable): a pair of X/Y direction shell vibration measuring points shall be provided at the support bearings of input and output shafts of each gearbox; Bentley 330400 series piezoelectric vibration acceleration sensor is used for measurement.



Overspeed protection (optional): each compressor unit is equipped with three redundant overspeed protection measuring points, which are measured by 3300XL series eddy current sensors. 2. Bently 3500 configuration requirements



Each key compressor unit is equipped with Bentley 3500 frame; Bently 35003500/15 power module;



Bently 35003500/22M transient data interface module; Bently 35003500/25 Keyphasor Module



Bently Bently 35003500/42M monitor module for the above measuring points of shaft vibration, shaft displacement, bearing vibration and shell vibration



(If applicable), 3500/53 triple redundant monitoring module shall be used for overspeed protection monitoring measuring points, and each monitoring channel (shaft vibration, shaft displacement and bearing vibration) shall be configured with two relay output channels; Bently Bently 3500 3500/32 (4-channel) or 3500/33 (16 channel) relay module is adopted, Bently Bently 3500 3500/92Modbus communication gateway is adopted



For units working in hazardous areas, 3500 monitor modules connected to field signals shall be equipped with built-in safety barriers; 3500/04 intrinsically safe grounding module shall be configured in the 3500 rack.



Centrifugal Compressor – Motor Driven



For units working in hazardous areas, Bentley sensors and monitoring systems should have the option of multi agency approval units. There is no requirement for the units working in the safe area.



1. Bently 3500's requirements on the configuration of measuring points for vibration monitoring of the unit



Keyphasor: each shafting of the compressor unit at the same speed is equipped with a Keyphasor measuring point; Bentley 3300XL series eddy current sensor is used for measurement.



Shaft vibration: each sliding support bearing is equipped with a pair of shaft vibration measuring points in X/Y direction (installed vertically to each other), which are measured by Bentley 3300XL series eddy current sensors.



Axial displacement: each thrust bearing of the compressor unit is equipped with double redundant axial displacement measuring points; Bentley 3300XL series eddy current sensor is used for measurement.



Bearing vibration: each rolling support bearing is equipped with two bearing vibration measuring points (installed horizontally and vertically), which are measured by Bentley 330500 series Velomitor piezoelectric vibration velocity sensor.



Bearing temperature (if applicable): each sliding support bearing and thrust bearing shall be equipped with bearing pad temperature measuring points; The working face and non working face of thrust bearing shall be equipped with temperature measuring points at the same time.



Gearbox shell vibration (if applicable): a pair of X/Y direction shell vibration measuring points shall be provided at the support bearings of input and output shafts of each gearbox; Bentley 330400 series piezoelectric vibration acceleration sensor is used for measurement.



2. Bently 3500 configuration requirements



Bently 3500 frame for each key compressor unit



Each Bently 3500 rack is configured with redundant 3500/15 power modules



3500/22M transient data interface module is configured in each Bentley 3500 rack;



For the above Keyphasor measurement points, the Bently 3500 rack of each unit is equipped with corresponding 3500/25 Keyphasor modules



The 3500/42M monitor module must be configured for the above measuring points of shaft vibration, shaft displacement, bearing vibration and shell vibration



(If applicable), the above bearing temperature measuring points need to be configured with corresponding 3500/60, 61 temperature monitoring modules, or 3500/62 process quantity monitoring modules



Each monitoring channel (shaft vibration, shaft displacement and bearing vibration) is equipped with two relay output channels of D-type; Use 3500/32 (4-channel) or 3500/33 (16 channel) relay modules



Each Bently 3500 rack is configured with a 3500/92Modbus communication gateway



For units working in hazardous areas, 3500 monitor modules connected to field signals shall be equipped with built-in safety barriers; 3500/04 intrinsically safe grounding module shall be configured in the 3500 rack.



screw compressor



For units working in hazardous areas, Bentley sensors and monitoring systems should have the option of multi agency approval units. There is no requirement for the units working in the safe area.



1. Bently measuring point configuration requirements



Keyphasor: each shafting of the compressor unit at the same speed is equipped with a Keyphasor measuring point; Bentley 3300XL series eddy current sensor is used for measurement.



Shaft vibration: each sliding support bearing is equipped with a pair of shaft vibration measuring points in X/Y direction (installed vertically to each other), which are measured by Bentley 3300XL series eddy current sensors.



Axial displacement: each thrust bearing of the compressor unit is equipped with double redundant axial displacement measuring points; Bentley 3300XL series eddy current sensor is used for measurement.



Bearing vibration: each rolling support bearing is equipped with two bearing vibration measuring points (installed horizontally and vertically), which are measured by Bentley 330500 series Velomitor piezoelectric vibration velocity sensor.



Bearing temperature (if applicable): each sliding support bearing and thrust bearing shall be equipped with bearing pad temperature measuring points; The working face and non working face of thrust bearing shall be equipped with temperature measuring points at the same time.



Gearbox shell vibration (if applicable): a pair of X/Y direction shell vibration measuring points shall be provided at the support bearings of input and output shafts of each gearbox; Bentley 330400 series piezoelectric vibration acceleration sensor is used for measurement.



2.3500 Configuration requirements



Each key compressor unit is equipped with Bentley 3500 frame



Each Bently 3500 rack is configured with redundant 3500/15 power modules



3500/22M Transient Data Interface Module (RJ45 Network Interface) is configured in each Bentley 3500 rack



For the above Keyphasor measurement points, the Bently 3500 rack of each unit is equipped with corresponding 3500/25 Keyphasor modules



The 3500/42M monitor module must be configured for the above measuring points of shaft vibration, shaft displacement, bearing vibration and shell vibration



(If applicable), the above bearing temperature measuring points need to be configured with corresponding 3500/60, 61 temperature monitoring modules, or 3500/62 process quantity monitoring modules



Each monitoring channel (shaft vibration, shaft displacement and bearing vibration) is equipped with two relay output channels of D-type; Use 3500/32 (4-channel) or 3500/33 (16 channel) relay modules



Each Bently 3500 rack is configured with a 3500/92Modbus communication gateway



For units working in hazardous areas, 3500 monitor modules connected to field signals shall be equipped with built-in safety barriers; 3500/04 intrinsically safe grounding module shall be configured in the 3500 rack. API618 reciprocating compressor



For units working in hazardous areas, Bentley sensors and monitoring systems should have the option of multi agency approval units. There is no requirement for the units working in the safe area.