ABB Sace BSD series brushless servo drive

BSD Configurator: Connected to CN3 via LAN cable (CAT. 5 direct connection), supports parameter read/write, batch transfer, and monitoring.

2. Core parameter table

Parameter number, parameter name, control mode, setting range, initial value, key role

#01 Command pulse compensation alpha position 1-32767 16 electronic gear ratio molecule, converting command pulse to mechanical stroke

#02 instruction pulse compensation β position 1-32767 1 electronic gear ratio denominator

#03 Pulse train input form: Position 0 (command pulse+symbol), 1 (forward/reverse pulse), 2 (two signals with a 90 ° phase difference), 1 matches the output type of the upper system pulse

#04 Rotation direction switching/output pulse phase all 0-30 set motor forward rotation direction (CCW/CW) and output pulse phase

#05 tuning mode position/speed 0 (automatic), 1 (semi-automatic), 2 (manual) 0 select servo gain tuning mode

#06 Load inertia ratio position/velocity GYS: 0.0-100.0; GYG: 0.0-30.0 5.0 (BSM low power), 1.0 (BSM high power) ratio of motor inertia to load inertia

#07 Automatic tuning gain position/speed 1-20 10 Adjust servo response speed (high value, fast response but prone to vibration)

#09 Control mode switch all 0 (position), 1 (speed), 2 (torque), 3 (position) ↔ 0 fixed or switchable control mode for speed)

3. Parameter Effectiveness Rules

The parameters marked as "Power" (such as # 03, # 04, # 09) need to be powered off and restarted to take effect; Other parameters (such as # 01, # 02, # 07) take effect in real-time.

Servo adjustment and special functions

1. Tuning method

Operation points for applicable scenarios of tuning types

Automatic tuning (# 05=0) Most conventional mechanical amplifiers automatically estimate the inertia ratio and set the optimal gain

Semi automatic tuning (# 05=1) inaccurate estimation of inertia ratio, manual setting of # 06 (load inertia ratio) in scenarios, amplifier automatically calculates gain

Manual tuning (# 05=2) Automatic/semi-automatic tuning failed. Manually set # 40 (position gain), # 41 (speed response), # 42 (speed integration time), etc

2. Special adjustment function

Vibration suppression control: By setting parameters # 60- # 63 (anti resonance frequency 0-3), mechanical vibrations (such as end effector vibrations of robotic arms) are suppressed within a frequency range of 5.0-200.0Hz.

Instruction Follow Control: Parameter # 55 is set (0=none, 1=follow, 2=follow+stop compensation) to achieve zero deviation following of pulse instructions, suitable for high rigidity machinery.

Inspection and maintenance

1. Regular inspection items

Equipment inspection content inspection frequency

Servo motor 1. Mechanical coupling deviation; 2. Smoothness of axis rotation; 3. Cable damage; 4. Loosening of screws regularly (e.g. monthly)

Servo amplifier 1. Dust accumulation; 2. Abnormal noise from the cooling fan; 3. Loose terminal screws; 4. No odor/signs of overheating regularly (e.g. monthly)

2. Service life and replacement of vulnerable parts

Component Standard Life Replacement Tips

Servo amplifier main circuit capacitor 73000h (10 years), lifespan shortened when ambient temperature exceeds 30 ° C

Replace the servo amplifier cooling fan when it makes abnormal noise or stops running after 30000 hours (3 years)

Replace servo motor bearings when vibration/abnormal noise occurs after 20000-30000 hours (3-5 years)

Replace the servo motor oil seal after 5000 hours of oil leakage

3. Common alarm handling

Alarm code, alarm reason, handling measures

OC1/OC2 overcurrent 1. Check the U/V/W wiring of the motor; 2. Check if the motor is short circuited/grounded; 3. Replace the amplifier

OL overload 1. Check motor load matching; 2. Extend the acceleration and deceleration time; 3. Reduce operating frequency

HV overvoltage 1. Check the power supply voltage; 2. Connect external regenerative resistors; 3. Extend deceleration time

LV undervoltage 1. Check the power supply voltage; 2. Confirm parameter # 26 (undervoltage detection) setting; 3. Improve the power environment

RS485 communication

1. Communication specifications

Project specifications

Signal level RS485

Communication method: 4-wire half duplex, asynchronous communication

Baud rate 9600/19200/38400bps (parameter # 83 setting)

Data format: 1 start bit, 8 data bits, 1 even check bit, 1 stop bit

Station number 1-31 (parameter # 2 setting)

Connect cable LAN line (CAT. 5 direct connection)

2. Core functions

Read: Multiple monitoring data (such as speed, torque), sequence mode, I/O signals, alarm history, system status.

Write: parameters, alarm reset, parameter initialization.

Key issue

Question 1: What are the matching rules between BSD series servo amplifiers and servo motors? What are the differences in power wiring requirements for amplifiers of different capacities?

Answer:

Matching rule: The selection should be based on the principle of "consistent capacity+matching speed", and the specific corresponding relationship is shown in the table below:

Servo amplifier model applicable servo motor model motor capacity motor rated speed

BSD0100 BSM0100xxxx 100W 3000r/min

BSD0200 BSM0200xxxx 200W 3000r/min

BSD0400 BSM0400xxxx 400W 3000r/min