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How to deal with abnormal sound or vibration when ABB Robot Servo motor repairs several faults?

Servo wiring:

Check whether the power cable, encoder cable, control cable and cable are damaged; Check whether there is interference source near the control line and whether it is parallel to or too close to the nearby high current power cable; Check whether there is any sudden change in the potential of the grounding terminal to ensure excellent grounding.                                                       

Servo parameters:

The servo gain setting is too large, and it is suggested 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 the set value can be tested to increase; The electronic gear ratio setting is too large, and it is suggested 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 is offset, and the mounting screws are not tightened; Poor engagement of pulley or gear will also lead to load torque change. Test the no-load operation. If the no-load operation is normal, check whether the joint part of the mechanical system is abnormal; Confirm 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 industries and measuring points for vibration monitoring

The compressor belongs to the general equipment category and is preferably used in iron and steel, electric power, metallurgy, chemical industry, petrochemical and other enterprises. The following is a configuration example of the Bentley vibration protection system used by the compressor unit driven by the motor 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 housings 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 shell vibration sensors to measure the j-pair vibration of the gearbox. The X-Y direction eddy current sensor system at the front and rear of the compressor is used to monitor the shaft vibration. In addition, a set of eddy current sensor system is used to measure the displacement of the compressor shaft, and a set of eddy current sensor system is used to measure and monitor the Keyphasor. The system configuration of vibration monitoring products is as follows:

Centrifugal compressor – driven by steam turbine

For units working in hazardous areas, Bentley sensors and monitoring system shall be provided with multi agency approval unit option. However, there is no requirement for the unit working in the safe area.

1. Measurement point configuration requirements

Keyphasor: each shaft system with the same speed of the compressor unit 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 the X / Y direction (perpendicular to each other), and Bentley 3300xl series eddy current sensors are used for measurement.

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.

Pad vibration (optional): each rolling support bearing is equipped with two pad vibration measuring points (installed in horizontal and vertical directions), and Bently 330500 series velomitor piezoelectric vibration speed sensor is used for measurement.

Gearbox shell vibration (if applicable): a pair of X / Y direction shell vibration measuring points are arranged 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;

Bentley 35003500 / 22m transient data interface module; Bently 35003500 3500 / 25 Keyphasor module

Bently 35003500 3500 / 42m monitor module for the above shaft vibration, shaft displacement, pad vibration and shell vibration measurement points

(if applicable), 3500 / 53 three redundant monitoring modules shall be used for overspeed protection monitoring and measuring points, and each monitoring channel (shaft vibration, shaft displacement and pad vibration) shall be configured with two relay output channels of vertical D; Bently Bently 35003500 / 32 (4 channels) or 3500 / 33 (16 channels) relay module is adopted, and Bently Bently 35003500 / 92 Modbus communication gateway

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