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2022-07-26
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Repair Yaskawa robot driver: repair sgmph

repair Yaskawa robot driver: repair sgmph-02a2a-yr12 maintenance affordable cycle is short

article source: Wanguo brand release time: 23:52:18

product brand Wanguo brand product model SGM production city Shanghai shipping city Shanghai total supply quantity 10 minimum starting order 10 product unit price 10 unit of measurement 10 product details

repair Yaskawa robot driver: repair sgmph-02a2a-yr12 maintenance practice Short benefit period

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signal connection diagram between PLC and servo

diagram is the signal connection diagram between servo driver and PLC. In this transmission protocol, when the load can no longer rise, the PLC is the host and the servo driver is the slave, that is, the PLC sends the transmission command and starts the transmission process. Among the four signals output by PLC, y0-y2 participates in data transmission, while Y3 does not. Y3 is used to set the origin for the constructed absolute position system. In y0-y2, Y0 is used to give the servo start signal, and Y1 is used to send the ABS Transmission Mode command to the servo to make the servo driver in the data transmission state. At this time, the servo driver will change the definition of some output terminals (described later). Y2 is used to make a request for data transmission, Cooperate with the signal "transmission data is ready" to complete the synchronization between the data sent by the servo driver and the data received by the PLC. The three input signals x10-x12 of the PLC receive the output signals from the servo driver, and X10 and XLL are two position data signals (bit0 and BITL) , X12 is a synchronization signal, which is a signal that is ready for data transmission. The three signals were originally defined in the servo driver, and the servo driver automatically switches to the current function after receiving the transmission mode command given by Y1

2. Description of data exchange of position transmission protocol

sequence diagram of position transmission protocol

in the figure, after PLC gives servo driver the servo start signal SV - on and ABS Transmission mode signal ABS at the same time, PLC and servo driver will carry out data transmission in the following order:

(1) after receiving the absm signal, the servo Yun area actuator will detect and calculate the absolute position data, and switch the functions of D01, ZSP and TLC to bit0 Bit1. TRD function; And set TRD to 1

(2) after receiving the trd = 1 signal, PLC sets the ABS request signal ABSR to 1 and sends it to the servo driver

(3) after receiving the signal of ABSR = 1, the servo driver outputs two bit data on bit0 and Bit1, sets TRD to 0, and notifies PLC that the two bit data has been output. PLC can read data

(4) after receiving the trd=0 signal, PLC reads the two-bit data, then sets the ABS request signal ABSR to 0 and sends it to the servo driver

(5) after the servo driver receives = 0 of ABS, it knows that PLC has read the two-bit data, so it sends trd=1 signal to prepare for the next transmission. Then repeat (2) through (5) until all 32-bit position data and 6-bit checksum data are transmitted

(6) after receiving the checksum data, PLC sets the ABS and transmission mode absm signals to 0. In the above transmission process, the signal coordination between PLC and servo driver seems to be more complex, but in fact, we can simply use a diagram to represent it

maintenance of the Yaskawa robot driver: after the sgmph-02a2a-yr12 maintenance affordable cycle is carried out, joint law enforcement and supervision and inspection are carried out for a short time

, the current absolute position of the mechanical system is determined by the PLC position control system according to the number of pulses sent. L when it happens, please use son to be in the off state and cut off the power supply. call the police? 9.1 alarm? An alarm or warning will be displayed when a fault occurs during operation. When an alarm or warning occurs, ALM becomes off if an alarm occurs. If parameter 24 is set to "□□□ 1", the code can be output. Alarm codes are output in bit0~bit2 on/off. Warning (al.92~) has no alarm code. The alarm codes in the table are output when an alarm occurs. After the alarm cause is eliminated, it can be removed by any method with ○ in the elimination column of the alarm. The following is a brief description of common alarms of some Mitsubishi servo products (JE and J4) in use. Please refer to the manual for specific instructions. The alarm and warning recorded as SD in the stop mode shall be stopped by using the dynamic brake after the forced stop deceleration

3. Position data and checksum data structure

simplified logical relationship between PLC and servo signal

in the 38 bit data transmitted, the first 32 bits of data are absolute position data of servo motor, and the last 6 bits of data are checksum data. Among the first 32 bits of data representing absolute position, they are arranged from * * * two bits to * * * two bits in the order of reading. In the last 6 bits of data representing the checksum, the reading order is also from the low two bits to the high two bits. The 6-bit verification data is the verification sum calculated by the servo driver according to the absolute position value transmitted. PLC verifies and calculates the read 32-bit position data, and the calculated results are compared with the read 6-2020 bit checksum data. If they are equal, the transmission is correct; Otherwise, the transmission is incorrect

the data transmitted each time is 2 "The first 16 data are 32 bits in total! The 17th to 19th data are 6 bits in total. The data is the structure of calibration face and data transmission data

in order to realize the verification, it is necessary to understand the calculation method specified in the transmission protocol, that is, the internal calculation method of the servo driver for the position data, so that the checksum of the read position data can be calculated in the PLC according to the same method. Only the same method can be used to calculate the checksum , the comparison is meaningful

for example, the position data transmitted by the servo driver is 013acf76h, and the binary is "00, 00, 00, 01, 00, 11, 10, 10, 11, 00, 11, 11, 01, 11, 01, 10". The protocol stipulates that the checksum calculation method is as follows: add every two bits of data to get 11000b=18h. Therefore, the checksum of the position data is 18h. The data transmitted by the servo driver is 32-bit position data 013acf76h and checksum data 18h

software preparation

according to the above analysis of absolute position transmission protocol, we can prepare corresponding programs. When compiling this program block, in order to make this program have reference value for various brands of PLC and can be transplanted, we used the basic instructions commonly used by all kinds of PLC and the functional instructions supported by all kinds of PLC to compile, as shown in the figure

maintenance of Yaskawa robot driver: sgmph-02a2a-yr12 has a short maintenance benefit cycle.

among the 38 bit data transmitted, the first 32 bits are the absolute position data of the servo motor, and the last 6 bits are the checksum data. Among the first 32 bits of data representing absolute position, they are arranged from * * * two bits to * * * two bits in the order of reading. In the last 6 bits of data representing the checksum, the reading order is also from the low two bits to the high two bits. The 6-bit verification data is the verification sum calculated by the servo driver according to the absolute position value transmitted. PLC verifies and calculates the read 32-bit position data, and the calculated results are compared with the read 6-bit checksum data. If they are equal, the transmission is correct; Otherwise, the transmission is incorrect. The data transmitted each time is 2 "The first 16 data are 32 bits in total! In order to realize the verification, it is necessary to understand the calculation method specified in the transmission protocol, that is, the calculation method of the position data inside the servo driver, so that the verification sum of the read position data can be calculated in the PLC according to the same method.

1. Program structure the whole position reading program is basically composed of three parts: data reading, verification sum calculation and error discrimination processing, The checksum calculation can be interspersed in the data reading program. In the data reading program section, read all 32-bit position data and 6-bit checksum data according to the signal logic cooperation relationship specified in the transmission protocol

calculate the checksum of 32-bit position data while reading the transmission data

after reading all the data, the read checksum data and the calculated checksum data are compared by PLGA in other medical aspects. If it is different, the transmission will be repeated. If the repetition times are greater than 3, the transmission will be stopped and an alarm signal will be given

in the figure, σ m 、 σ d 、 σ C represents all flag bits, data registers and counters. C0 and C1 are used to count the number of reads (i.e. the group of bit0 and Bit1 data). C0 is used to judge the number of data read in of position data, so the preset value is 17 (1 greater than the number of data to be read 16); C1 is used to judge the reading times of all data, so the preset value is 19 (19 times in total). C2 is used to judge the number of retransmissions for transmission errors, so the preset value is 3. The 2-bit data read in each time shall be processed during storage to restore its original defined data structure. See the following for detailed processing instructions

2. Template program

the above program is a transmission program compiled with Mitsubishi q series PLC as an example. Due to space limitations, we do not give the program in the form of ladder diagram, but in the form of statement table. In the above procedure, M99 is the transmission start signal and m214 is the transmission error flag. Y0-y2 are SV on, absm and ABSR signals, and x10-x12 are bit0, Bit1 and TRD signals. D10 is the calculated checksum value and D12 is the absolute position data output value. M120-m157 are intermediate flag bits for storing 38 bit transmission data, where m 120-m151 is used for position data and m152-m157 is used for checksum data

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