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UTNH23A   ABB機(jī)器人伺服電機(jī)在修復(fù)多個(gè)故障時(shí)出現(xiàn)異常聲音或振動(dòng)，如何處理？伺服接線：電源電纜、編碼器電纜、控制電纜和電纜是否損壞；檢查控制線附近是否有干擾源，是否與附近的大電流電力電纜平行或太近；檢查接地端子的電位是否突然變化，以確保良好的接地。伺服參數(shù)：如果伺服增益設(shè)置得太大，建議從一開(kāi)始手動(dòng)或主動(dòng)調(diào)整伺服參數(shù)；確認(rèn)速度響應(yīng)濾波器的時(shí)間常數(shù)設(shè)置。初始值為0，您可以測(cè)試以增加設(shè)置值；電子傳動(dòng)比設(shè)置得太大，因此建議恢復(fù)到出廠設(shè)置；伺服系統(tǒng)和機(jī)械系統(tǒng)共振，測(cè)試和調(diào)整陷波濾波器的頻率和振幅。機(jī)械系統(tǒng)：連接電機(jī)軸和設(shè)備系統(tǒng)的聯(lián)軸器偏離，安裝螺釘未擰緊；滑輪或齒輪嚙合不良也會(huì)導(dǎo)致負(fù)載扭矩變化。測(cè)試空載運(yùn)行。如果空載運(yùn)行時(shí)正常，檢查機(jī)械系統(tǒng)的組合部分是否異常；識(shí)別負(fù)載慣性、扭矩和速度是否過(guò)大，并測(cè)試空載運(yùn)行。如果空載運(yùn)行正常，應(yīng)降低負(fù)載或更換容量較大的驅(qū)動(dòng)器和電機(jī)。Bently 3500在鋼鐵、電力、化工和石化行業(yè)中的應(yīng)用及振動(dòng)監(jiān)測(cè)測(cè)點(diǎn)





壓縮機(jī)屬于通用設(shè)備類，較好地應(yīng)用于鋼鐵、電力、冶金、化工、石化等企業(yè)。以下是電機(jī)通過(guò)齒輪箱驅(qū)動(dòng)壓縮機(jī)組時(shí)使用的Bentley振動(dòng)保護(hù)系統(tǒng)的配置示例，供您參考。





壓縮機(jī)組：電機(jī)、齒輪箱、壓縮機(jī)





Bently 3500的典型振動(dòng)測(cè)量點(diǎn)布置如下：





電機(jī)的前后軸承箱配備有殼體振動(dòng)傳感器，以測(cè)量電機(jī)軸承的j對(duì)振動(dòng)。變速箱的低速端和高速端分別配備了殼體振動(dòng)傳感器，以測(cè)量變速箱的j對(duì)振動(dòng)。壓縮機(jī)的前后X-Y方向渦流傳感器系統(tǒng)用于監(jiān)測(cè)軸振動(dòng)。此外，還使用一套渦流傳感器系統(tǒng)測(cè)量壓縮機(jī)軸位移，并使用一套渦電流傳感器系統(tǒng)測(cè)量和監(jiān)控關(guān)鍵相位。振動(dòng)監(jiān)測(cè)產(chǎn)品的系統(tǒng)配置如下：





離心式壓縮機(jī)——汽輪機(jī)驅(qū)動(dòng)





對(duì)于在危險(xiǎn)區(qū)域工作的裝置，Bentley傳感器和監(jiān)控系統(tǒng)應(yīng)具有多機(jī)構(gòu)批準(zhǔn)裝置的選項(xiàng)。對(duì)在安全區(qū)域工作的裝置沒(méi)有要求。





1.測(cè)點(diǎn)配置要求





Keyphasor（鍵相器）：在相同速度下，壓縮機(jī)機(jī)組的每個(gè)軸系都配有一個(gè)鍵相器測(cè)量點(diǎn)；Bentley 3300XL系列渦流傳感器用于測(cè)量。





軸振動(dòng)：每個(gè)滑動(dòng)支承軸承在X/Y方向上配備一對(duì)軸振動(dòng)測(cè)量點(diǎn)（彼此垂直安裝），由Bentley 3300XL系列渦流傳感器測(cè)量。





軸向位移：壓縮機(jī)組的每個(gè)推力軸承都配有雙冗余軸向位移測(cè)量點(diǎn)；Bentley 3300XL系列渦流傳感器用于測(cè)量。





軸承振動(dòng)（可選）：每個(gè)滾動(dòng)支承軸承配有兩個(gè)軸承振動(dòng)測(cè)量點(diǎn)（水平和垂直安裝），由Bentley 330500系列Velomitor壓電振動(dòng)速度傳感器測(cè)量。





齒輪箱殼體振動(dòng)（如適用）：應(yīng)在每個(gè)齒輪箱輸入軸和輸出軸的支撐軸承處提供一對(duì)X/Y方向殼體振動(dòng)測(cè)量點(diǎn)；Bentley 330400系列壓電振動(dòng)加速度傳感器用于測(cè)量。





超速保護(hù)（可選）：每個(gè)壓縮機(jī)組配備三個(gè)冗余超速保護(hù)測(cè)量點(diǎn)，由3300XL系列渦流傳感器測(cè)量。2.Bently 3500配置要求





每個(gè)關(guān)鍵壓縮機(jī)組均配備Bentley 3500框架；Bently 35003500/15電源模塊；





Bently 35003500/22M瞬態(tài)數(shù)據(jù)接口模塊；Bently 35003500/25鍵相器模塊





Bently Bently 35003500/42M監(jiān)控模塊，用于軸振動(dòng)、軸位移、軸承振動(dòng)和外殼振動(dòng)的上述測(cè)量點(diǎn)





（如適用），3500/53三重冗余監(jiān)測(cè)模塊應(yīng)用于超速保護(hù)監(jiān)測(cè)測(cè)量點(diǎn)，每個(gè)監(jiān)測(cè)通道（軸振動(dòng)、

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 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.



1. Requirements for measuring point configuration



Multi event Keyphasor: A multi event Keyphasor runner MEW is installed at the drive end of the reciprocating compressor to measure the Keyphasor reference signal of the reciprocating compressor. The multi event Keyphasor runner can be Bentley standard multi event runner MEW, or the reciprocating compressor manufacturer can customize and design the multi event Keyphasor runner according to Bentley's engineering experience in multi event Keyphasor runner based on its own equipment structure design characteristics. The multi event Keyphasor signal is measured by Bentley 3300XL series eddy current sensor.



Crankcase vibration: a vibration speed sensor is arranged on the horizontal axis of each main bearing between two cylinder rows of the reciprocating compressor crankcase to measure the crankcase body vibration. Bentley 330500 series Velomitor piezoelectric vibration speed sensor is used when the working speed of the reciprocating compressor is higher than 500 rpm; Bentley 190501VelomitorCT piezoelectric vibration speed sensor is used when the working speed is lower than 500rpm.



Crosshead vibration: redundant acceleration sensors are configured on the vertical plane at the midpoint of crosshead movement of each cylinder of the reciprocating compressor to monitor the impact event of reciprocating components; Bentley 330425 acceleration sensor is used for measurement.



Piston rod position: a pair of mutually perpendicular piston rod position measuring points shall be configured in the horizontal and vertical directions of each cylinder of the reciprocating compressor perpendicular to the piston rod plane; Bentley 3300XL series eddy current sensor is used for measurement. For reciprocating compression piston rod measurement.



Cylinder dynamic pressure: each cylinder of the reciprocating compressor is equipped with two cylinder pressure measuring points (suction and exhaust), which are measured by Bentley 165855 cylinder pressure sensor.



Bearing vibration: each main bearing in the crankcase of the reciprocating compressor is equipped with a speed sensor to measure the bearing vibration. Bentley 330500 series Velomitor piezoelectric vibration speed sensor is used when the working speed of the reciprocating compressor is higher than 500 rpm; Bentley 190501VelomitorCT piezoelectric vibration speed sensor is used when the working speed is lower than 500rpm.



Bearing temperature: each main bearing is equipped with a temperature sensor to measure the bearing temperature.



Air valve temperature: each air valve (suction valve and exhaust valve) of the reciprocating compressor cylinder is equipped with a temperature measuring valve temperature.



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 330,400 series piezoelectric vibration acceleration sensor is used for measurement.



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



2. Bently 3500 configuration requirements
In paper and board mills.. in a wide range of
the horizontal force component resulting from
converting operations... and in plants processing
web tension on a roll.
textiles, plastics, rubber or almost any web mate-
Several models and nominal loads are available
ial you can think of, you'll find ABB PillowBlock
in standard stainless steel constructions as well as
tension measurement systems.
in acid-resistant and mill- duty versions.
The performance of the PllowBlock load cells
The user-friendly digial signal-processing
is unsurpassed for applications characterized by
elecronics provides a high level of functionality to
heavy rll, high speeds and severe conditions - in cover a wide range of applications.
some instances they're the only viable option.
The key reason is the operating principle.
ABB Pillow Block load cells produce signals as a
result of magnetic change, which frees them from
the ineviable limitations and design compromises
of measurement technologies relying on some
form of physical movement.
The result is a load cell that combines srong,
low-impedance signal output with an exceedingly
stiff and rugged construction. A reliable, high-
performance load cell with exceptional resistance
to vibration, overloads, extreme temperatures and
otherwise harsh environments.
A complete PllowBlock measuring system
consists of appropriately sized load cells and a ten-
sion electronics. A junction box is sometimes used
to simplify the cabling and reduce cabling costs.
ABB offers two different types of PillowBlock
load cell: one design intended for conventional
vertical force measurement, and a second,
unique design that measures only


在造紙廠和紙板廠

水平力分量由

轉(zhuǎn)換操作…和廠內(nèi)加工

卷筒紙張力。

紡織品、塑料、橡膠或幾乎任何網(wǎng)狀材料-

有幾種型號(hào)和額定負(fù)載可用

如果你能想到，你會(huì)發(fā)現(xiàn)ABB枕頭墊

標(biāo)準(zhǔn)不銹鋼結(jié)構(gòu)以及

張力測(cè)量系統(tǒng)。

耐酸和研磨型。

PllowBlock稱重傳感器的性能

用戶友好的數(shù)字信號(hào)處理

對(duì)于具有以下特征的應(yīng)用程序來(lái)說(shuō)是無(wú)與倫比的

電子技術(shù)為

重型rll、高速和惡劣條件-適用范圍廣泛。

在某些情況下，它們是可行的選擇。

關(guān)鍵原因是操作原理。

ABB枕式塊稱重傳感器作為

磁性變化的結(jié)果

不合理的限制和設(shè)計(jì)妥協(xié)

測(cè)量技術(shù)依賴于

身體運(yùn)動(dòng)的形式。

結(jié)果是將srong，

低阻抗信號(hào)輸出

堅(jiān)固耐用的結(jié)構(gòu)?？煽俊⒏?

具有卓越電阻的高性能稱重傳感器

振動(dòng)、過(guò)載、溫度和

否則環(huán)境惡劣。

完整的PllowBlock測(cè)量系統(tǒng)

由適當(dāng)尺寸的稱重傳感器和十個(gè)-

視覺(jué)電子。有時(shí)使用接線盒

以簡(jiǎn)化布線并降低布線成本。

ABB提供兩種不同類型的枕頭墊

稱重傳感器：一種設(shè)計(jì)用于傳統(tǒng)

垂直力測(cè)量，

獨(dú)特的設(shè)計(jì)，僅測(cè)量
The PressductorP difference
Like ABB's other load cells based on Pressductor
Technology, PillowBlock Load Cells rely on ectto-
magnetic changes in the transducer, not on physical
movement, to sense fluctuations in web tension.
The Pressductor" Technology operating principle
provides exceptional improvements in load cell
performance characteristics, including reliability
(notably absence of drif), durability, repeatabiliy,
and wider measurement range.
Machined from a solid block of steel, the
load cells are rugged and siff, affording high
overload protection as well as an extended mea-
surement range above the nominal capacity. And
they won't contribute to machine vibration, even
at high speeds.
Since the transducer action - the magnetic
flux - takes place inside a steel core, environmen-
tal factors like dirt or fluids can't degrade perfor-
mance and reliabiliy.
Furthermore, low transducer impedance - less
then a couple of ohms - helps eliminate suscep-
tibility to radio frequency and elecromagnetic
interference.

PressductorP差異

與ABB基于Pressductor的其他稱重傳感器一樣

技術(shù)，枕式稱重傳感器依賴ectto-

傳感器中的磁性變化，而不是物理變化

以感測(cè)卷筒紙張力的波動(dòng)。

Pressductor“技術(shù)操作原理

在稱重傳感器中提供了卓越的改進(jìn)

性能特征，包括可靠性

（特別是沒(méi)有drif）、耐久性、可重復(fù)性、，

以及更寬的測(cè)量范圍。

由實(shí)心鋼塊加工而成

稱重傳感器堅(jiān)固耐用，應(yīng)力強(qiáng)度因子高

過(guò)載保護(hù)和擴(kuò)展mea-

額定容量以上的測(cè)量范圍。和

它們甚至不會(huì)導(dǎo)致機(jī)器振動(dòng)

在高速下。

由于傳感器動(dòng)作-磁性

通量-發(fā)生在鋼芯內(nèi)部，環(huán)境-

污垢或液體等金屬因素不會(huì)降低性能-

性能和可靠性。

此外，傳感器阻抗低

然后幾歐姆-有助于消除suscep-

射頻和電磁兼容性

干擾
How the Measurement Signal Is Generated
Two commonly used transducer types - the strain
gauge and the LVDT transducer - rely on physi-
cal movement in the
transducer to produce a
measurement signal (see
Strain gange: Sretching alers drawings). Stretching，
reistance of ectrial circuits. compression or bending
motions are prerequisites for signal generation.
ABB's exclusive Pressductor Transducer produces
a signal as a result of changes in an electromagnetic
field. This operat-
ing principle has its
。
origin in a melallur-
8
gical phenomenon
according to which
mechanical forces
LVDT: Movement ofpiston causes
alter the capacity of
signal change in output coils.
some steels to convey magnetic flux.
Two perpendicular windings of copper wire around
a steel core combine to provide the transducers mea-
surement signal. A
magnetic field is created
in one of the windings,
sized so there is no
magnetic coupling
between them.
When the transducer
Pesductor Tecbmology:
is subjected to a force,
Mechanial fore alters mag the magneic feld pati-
netic. field.
tern changes. A por-
tion of the field couples with the second winding and
induces an AC vltage. This vltage - a comparatively
strong transducer signal that is proportional to the force
- is converted by the load cell system's electronics into
the system output.
Extended-Range
Designers appreciate...
Selecting and sizing load cells
Operation
V Remarkably high spring constant
Two types of ABB PillowBlock load cells are
An extended range
V Wide measurement range
designed for either conventional vertical force
of measurement
v High rliabiliy
measurement or to sense the horizontal force
beyond the nomi-
component that may arise as the processed mate-
nal load alows the
Operators value a load cell with...
rial partially wraps around a- measurement roll.
PillowBlocks to be
V No drift
Using the "horizontal" load cells can be quite
sized for normal, as
v No recalibration
advantageous. By design, they can be made excep-
opposed to maximum,