完整文档：
FANUC 数字伺服参数设定、主要参数调整及维修.pdf
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目录
1．伺服参数的设置................................................................................................................6
1-1. 数字伺服框图及工作原理.........................................................................................6
1-2. 与数字伺服相关的参数 .............................................................................................8
1-3. 数字伺服画面调用 ...................................................................................................12
对于 Series 0-C/0D..................................................................................................12
对于 Series 15-A/B, 15i ..........................................................................................12
对于 Series 16, 18, 20, 21 .....................................................................................12
1-4 数字伺服参数的初始化设置....................................................................................14
2. 维修过程中主要伺服参数的调整 .................................................................................21
2-1 停止时震荡相关调整参数.........................................................................................21
2-1-1. 开通速度环的比例增益高速处理有效 ..........................................................21
2-1-2. 使用 250µs 加速反馈功能 ..............................................................................22
2-1-3. 改变停止时的比例增益 ...................................................................................22
2-1-4. 使用 N 脉冲抑制功能.......................................................................................23
2-1-5. 若有低频波动，增加负载惯量比...................................................................24
2-1-6. 将负载惯量比恢复到初始值（选择电机规格号后，系统自动设定的值）
..........................................................................................................................................24
2-1-7. 不断增加速度环的比例增益（PK2V）........................................................24
2-1-8. 降低位置环增益................................................................................................24
2-2 运动中震荡相关调整，参数....................................................................................25
2-2-1. TCMD 转矩指令过滤器....................................................................................26
2-2-2. 采用双位置环控制（受功能参数限制） ......................................................27
2-2-3. 振动抑制功能....................................................................................................29
2-2-4. 采用机械速度反馈功能 ...................................................................................31
2-2-5. 精加、减速功能有效........................................................................................32
2-3 全闭环运动中震荡相关调整参数 ............................................................................34
2-3-1．按静止时的振荡调整.......................................................................................34
2-3-2．双位置环反馈功能...........................................................................................34
2-3-3．使机械速度反馈功能有效（参见上一节） .................................................34
2-3-4．降低位置环增益...............................................................................................34
2-4 累计进给......................................................................................................................35
2-4-1. 若无超调 ............................................................................................................35
2-4-2. 取消超调 ............................................................................................................35
2-4-3. 使 PI 控制有效，增加速度环增益（PK1V）..............................................35
2-4-4. 调整速度环积分增益........................................................................................35
2-5 超调时相关调整参数 ................................................................................................36
2-5-1．使 PI 控制有效 .................................................................................................36
2-5-2．增加负载惯量比...............................................................................................40
2-5-3．使超调抑制功能有效，调整速度环增益（PK3V） ..................................40
2-5-4．删掉第 3 步中的设定值，只调整速度环的增益（PK3V）......................40
2-5-5．超调抑制功能 2 有效 ......................................................................................41
3．IB/IC/18I 系列 FSSB 的设置........................................................................................42
3-1 概述 ..............................................................................................................................42
3-2．手工设定 1 ...............................................................................................................43
3-3 自动设定 .....................................................................................................................44
3-3-1． 在放大器设定画面。 ....................................................................................44
3-3-2． 按[SETING]软键。........................................................................................44
3-3-3． 在轴设定画面上.............................................................................................44
3-3-4． 按[SETING]键。............................................................................................44
⑴．放大器设定画面.................................................................................................45
⑵．轴设定画面 .........................................................................................................46
⑶．放大器的维护画面.............................................................................................47
4．伺服报警与故障处理 .....................................................................................................56
4-1 伺服的基本连接和电压规格.....................................................................................56
4-2 报警显示（CRT/LCD 报警内容）..........................................................................58
4-3 电源单元状态灯说明 .................................................................................................62
4-4 电源单元七段显示管报警.........................................................................................64
4-5 伺服放大器模块的报警 ............................................................................................67
4-5-1 异常电流报警 (七段显示管 8, 9, A, b, C, d, 和 E 报警) ..........................69
4-5-2 伺服报警灯 2 号报警，输入功率电压低报警................................................69
直流环电压低报警 （七段显示管 5 报警）.......................................................69
4-5-3 伺服放大器风扇故障 （七段显示管 1 报警）............................................69
5 主轴模块（七段显示管）报警.......................................................................................70
5-1 初始化灯不亮..............................................................................................................72
5-2 主轴放大器模块七段显示报警分类 .......................................................................73
5-2-1 Alarm code 01 .................................................................................................74
5-2-2 Alarm code 02 .................................................................................................74
5-2-3 Alarm code 03 .................................................................................................75
5-2-4 Alarm code 04 .................................................................................................75
5-2-5 Alarm code 07 .................................................................................................75
5-2-6 Alarm code 09 .................................................................................................76
5-2-7 Alarm code 11..................................................................................................76
5-2-8 Alarm code 12 .................................................................................................76
5-2-9 Alarm code 13 .................................................................................................77
5-2-10 Alarm code 15...............................................................................................77
5-2-11 Alarm code 16 ...............................................................................................78
5-2-12 Alarm codes 19 and 20...............................................................................78
5-2-13 Alarm code 24...............................................................................................78
5-2-14 Alarm code 25...............................................................................................78
5-2-15 Alarm code 26...............................................................................................79
5-2-16 Alarm code 27...............................................................................................80
5-2-17 Alarm code 29...............................................................................................80
5-2-18 Alarm code 30...............................................................................................81
5-2-19 Alarm code 31...............................................................................................81
5-2-20 Alarm code 32...............................................................................................82
5-2-21 Alarm code 33...............................................................................................82
5-2-22 Alarm code 34...............................................................................................82
5-2-23 Alarm code 35...............................................................................................83
5-2-24 Alarm code 36...............................................................................................83
5-2-25 Alarm Code 39..............................................................................................84
5-2-26 Alarm code 40...............................................................................................84
5-2-27 Alarm code 41...............................................................................................85
5-2-28 Alarm code 42...............................................................................................86
5-2-29 Alarm code 43...............................................................................................86
5-2-30 Alarm code 44...............................................................................................86
5-2-31 Alarm code 46...............................................................................................86
5-2-32 Alarm code 47...............................................................................................86
5-2-33 Alarm code 49...............................................................................................88
5-2-34 Alarm code 50...............................................................................................88
5-2-35 Alarm code 51...............................................................................................88
5-2-36 Alarm codes 52 and 53...............................................................................88
5-2-37 Alarm code 54...............................................................................................89
5-2-38 Alarm code 55...............................................................................................89
5-2-39 Alarm code 56...............................................................................................89
5-2-40 Alarm code 57...............................................................................................89
5-2-41 Alarm code 58...............................................................................................89
5-2-42 Alarm code 59...............................................................................................90
6．伺服报警诊断..................................................................................................................91
6-1．伺服画面中的报警 ..................................................................................................91
6-2．报警内容说明 ..........................................................................................................93
6-3．详细报警分析及解决方案......................................................................................94
6-3-2．反馈断线报警 ...................................................................................................96
6-3-3．过热报警 ...........................................................................................................97
6-3-4．无效的伺服参数设定.......................................................................................97
6-3-5．串行编码器报警...............................................................................................98
6-3-6．其他报警 ...........................................................................................................99
6-4．伺服软断线报警主要调整参数 .......................................................................... 101
7．如何更换保险和交换线路板...................................................................................... 103
7-1．模块结构（拆装方法）....................................................................................... 103
7-1-1．60/90 mm 宽模块........................................................................................ 104
7-1-2．150 mm Width Module (without the Connector Module) .................... 105
7-2．保险的更换............................................................................................................ 108
7-2-1．电源模块保险的更换.................................................................................... 108
7-2-2．放大模块（伺服模块和主轴模块）............................................................ 111
7-3 其他部分 ...................................................................................................................113
7-3-1． 主轴放大器 ROM 和主轴传感器模条的更换 .......................................113
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