PD3系统诊断手册EN.pdfVIP

PacDrive3

系统诊断手册（英文）

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Scenarios

encountered

atthe

machine

Theremaybejamduetoobstacleswhilelacingbottles,…

Theremaybefrictionduetofouling,wornoutbearings,damagedmechanics,…

A:Theremaybejamduetoobstacleswhileplacingbottles,…

So,ifthegripperoftherobotmeetsanobstaclewhileplacingthebottlesintothecarton,

theservowilldeviatefromitsschedule.Thisdeviationcanbefoundbycheckingthefollowing

error.

IfFollowingErrorexceedsthegienlimitdramatically,thereshouldbeareaction–say-

stoingthemovementofthegrierimmediatelyifstillossibleto–atleast!-minimizedamage

ofbottles,cartonsormechanics.Afteratimeout,PositionControlwillbeswitchedoff.

IfFollowingErrorexceedsFollowingLimit‘slightly’,thereshouldbeamessagebutthereis

noneedforareactionofthe‘reorting’drive.Themessageisworththetrouble,for

rogrammerswilluseitasacriteriontolaunchuserspecificreactionsofthemachine

withintheuserrogram,

maintenancestaffcangatherthesemessagesfromthemessageloggerandusetheme.g.

for‘preentiemaintenance’!

B:Theremaybefrictionduetofouling,wornoutbearings,damagedmechanics,…

Frictionrequires‘morethantheusualamountoftorque’foragivenmovementorforcyclic

sequencesofthem.Remedyingthiserrorisabitmorecomlex.Formostofallcases,friction

withinaninstallationisnotthatobvious,thatitimmediatelydisturbsthescheduleliketheabove

obstaclesdid.

Friction‘kills’theServoDriveinthelongrun.ThustheMotorControllertakesrootmean-squareof

torque–determinedviarootmeancurrent-todetectthiskindof‘continuousoerload’.…