High Speed Siden Entry IML Robot SW833-S6

SWITEK IML Robot Instruction -- SigmaTek -- History Record

Abstract

With the control system developed by the Austria automatic company SIGMATEK GmbH & Co KG, SWITEK high speed side entry IML robot is providing a more efficient and outstanding performance for your quality bulk production of the IML Yogurt Cups.

4 Alarms and history record

4.2 History Record

Click the notice 3 in picture 1.6.1.This button indicates Axis Alarms Information, enter into the page of Driver information. As shown in the below picture 1.6.2:

1. The information of Servo Axis and the order of CNC can be checked in this page;
2. Motor feedback offset can be measured by checking the Get ROFF button in this page.
3. Clicking the Clear Alarm button is used to clear the alarms of this axis (currently it is only applied to the Sigmatek drivers);
4. Clicking the corresponding axis's button, such as "SX", is used to enter into the
   

   These information of alarms in the above picture only can be used in Sigmatek drivers. The specific alarms' reasons and resolvent are listed in the below table:

Alarms Name	Hand controller display	Reasons and resolvents	Breakdown reason and elimination methods
Phase lack alarm	SDD_OnePhase	Motor starts without three phase power supply	Check whether motor lines connects with the three phase of UVW with the right manner. Check whether three phase input 380 is normal.
Dynamic voltage alarm	SDD_MainError	The main power supply is not normal when motor starts.	Check whether motor lines conencts with the three phase of UVW with the right manner. Check whether three phase input 380 is normal.
Overvoltage(Regenerative resistor deficiency)	SDD_DCOver	DC bus voltage is higher than safety value. This value is depended on the parameter G-VMAINS (driver parameter)	Motor produce the back EMF in running and the EMF will increase with speed of revolution increases. This problem occurs when speed is too fast. Motor can not run normally if the power supply voltage is too slow. Check Whether three phase power supply meets the requirement. For example system of 400V connects with the power of 200V.
Low voltage	SDD_DCUnder	DC bus voltage is lower than set value of parameter when motor starts.	DC bus voltage is lower than the safety scope. There are 3 notices: firstly, whether three phase power supply is normal; secondly,slow down the speed when the back EMF is too high;thirdly, the overall power is not enough, the ability of output is not enough as a result of the too big motor.
Brake error	SDD_BrakeError	Brakek closed is tested abnormal when close the brake, such as lines of brake is short, temperature exceeds the limit and so on.	Check whether the brake of motor is normal Check whether point of brake output 24V when test driver.
Brake with error	SDD_BrakeSwitchError	The connections of brake is abnormal, short or broken when open the brake.	Check whether the brake of motor is normal Check whether point of brake output 24V when set driver.
Motor overheating	SDD_MotorOverTemp	Resistance of motor temperature transducer I-TEMPM is higher than the maximum resistance M-RTEMP	Estimate the temperature with hands. There are problems in motor lines, encoder line or interior resistance if the temperature of motor's surface does nor reach the overheated degree.
Drive bad heat	SDD_AmbientOverTemp	Interior temperature I-TEMPE exceeds the set value G-MTEMPE	Drivers abstract heat bad and improve the airiness.
Drive the radiator overheated	SDD_HeatSinkOverTemp	The thermal temperature I-TEMPK exceeds the set value G-MTEMPK	Fasten the heat dissipator to the baseboard to exchange abstracting heat.
Encoder feedback abnormally	SDD_FeedbackError		Alarms will be given out if the increment of encoder's feedback signal exceeds the scope after motor starts. The encoder line is abnormal
Abnormal communication	SDD_CommunicationError	When the motor running direction and I-NFILT in opposite directions, if the acceleration of mor than 300 upm/s or I-NFILT>NMAX/4, Alarm
Motor speed exceeds limit	SDD_OverSpeed	Motor speed exceeds the maximum speed of driver.	This problem may occur if encoder is abnormal with normal motor speed.
Position deviation is too large	SDD_PEMax	Alarm will be given out when the actual position deviation exceeds the maximum	Try again after slowing down the speed. It is possible that the mechanical properties were changed.
Command acceleration exceeds limit	SDD_PCmdError	Alarms will be given out when speed produced by exceeds 10000/minute
The main control communication abnormalities	SDD_HostComError	PC control failure
Driver interior error E2	SDD_DriveError_E2	Drive internal circuit breaker. The operation timed out, or analog-to-digital convert is abnormal	Check whether motor is normal, whether there occurs high-frequency vibration Change the driver
Driver interior error E1	SDD_DriveError_E1	Driver motherboard, as problems occurs in the internal storage	Change the driver
Safety input abnormally	SDD_EnableLockedError	Safety signals do not input, or safety device is abnormal	Check safety signal input of VAC
Regenerative resistor deficiency	SDD_MaxRegenPower	Alarms will be given out when the regenerative resistor I-PBAL>The maximum regeneration resistor G-MBAL	Reduce load, reduce dynamic, slow speed down The maximum regeneration resistance power Regenerative resistor calculation options: resistance (Eur)ΩEM= A*B/C*0.8 Capacity(w):PEM=(C*0.8)2*ΩEM/10 For A: The highest speed of the motor(rpm): B: The back EMF (V*min): C: The maximum motor current (A);
Power supply 24V of brake is abnormal	SDD_Brake24VError	24V power supply or brake is bad. Signal of brake open loses.
Motor overload	SDD_12TError	Alarms will be given out when load rate I-12T≥100% at the start of motor.	This problem occurs when encoder is abnormal, also when motor oscillate frequently.
Motor temperature alarm	SDD_MotorTempWarn	Alarms will be given out when actual temperature I-TEMPM> (maximum temperature M-RTEMP*motor alarm temperature A-TEMPMV/100)	Check the connections in the temperature sensor line of motor encoder lines. Touch motor's surface with hands to estimate whether there exists problems of overheat Change a motor if everything is normal.
Motor temperature alarm	SDD_MotorTempWarn	Alarms will be given out when actual temperature I-TEMPM> (maximum temperature M-RTEMP*motor alarm temperature A-TEMPMW/100)	Check the connections in the temperature sensor line of motor encoder lines. Thouch motor's surface with hands to estimate whether there exists problems of overheat. Changes a motor if everything is normal.
Motor parameters do not match	SDD_MotorObjectError	Set parameter is not matching with motor. it is only adapted with using End at or Hiperface encoder.	Load the wrong document of parameter. It need to update program.
Resolution ratio of encoder do not match Motor information do not match	SDD_MutiPosError	The type of encoder is different from set type, or the precision of encoder is different from set one.	Load the wrong document of parameter. It need to update program (Non absolute motor) Set Machinery 0 (absolute motor)Axis revert> motor set current point as 0
Excess load	SDD_MaxSumPowerLimit	The maximum output power limitation

Record of manipulation. As shown in the below picture 1.6.4:

1.The specific data classification of Detailed record. Include record types (alarm/manipulation instruction), manipulation No./Alarms No., Count, the last record of arrived, the last record of gone and specific description about alarms/manipulation. Drag the scroll bar at the bottom of this picture to right hand. As shown in the below picture 1.6.5: