JB/T 10270-2001 General technical requirements for DC servo drive units for CNC machine tools
Some standard content:
JB/T10270--2001
DC servo drive units for CNC machine tools have been widely used in CNC machine tools, industrial robots, military and other fields. In terms of classification, according to their closed-loop characteristics, there are those with only speed closed loops, and those with both speed closed loops and position closed loops. They are of various varieties, but there are no corresponding international standards or foreign advanced national standards. The purpose of this standard is to make domestic products approach the international level and guide industry production. This standard is compiled in accordance with the requirements of JB/T8832-1999 "General Technical Conditions for Machine Tool Digital Control Systems", with reference to product samples of internationally renowned companies and combined with the production conditions of Chinese enterprises. Appendix A and Appendix B of this standard are both appendices of the standard. This standard is proposed and managed by the National Industrial Automation System and Integration Standardization Technical Committee. The drafting unit of this standard: Beijing Machine Tool Research Institute. The main drafters of this standard: Zhang Desheng and Li Chengzhao. This standard was first issued in June 2001.
This standard is entrusted to Beijing Machine Tool Research Institute for interpretation. 551
1 Scope
Machinery Industry Standard of the People's Republic of China
DC servo drive unit for CNC machine tools
General technical conditions
General specification for DC servo drive unitJB/T10270—2001
This standard specifies the technical requirements, test methods, inspection rules, marking, packaging, transportation and storage of DC servo drive units for CNC machine tools
This standard is applicable to various DC servo drive units for controlling DC servo motors for various types of CNC machine tools. DC servo drive units for other purposes can also be implemented as a reference. 2
Cited standards
The provisions contained in the following standards constitute the provisions of this standard by reference in non-standards. When this standard is published, the versions shown are valid. All standards will be revised, and parties using this standard should explore the possibility of using the following standards to establish new versions. GB191--2000 Packaging storage and transportation pictorial mark (eqvISO780:1997) GB/T2423.31993 Basic environmental testing procedures for electrical and electronic products Test Ca: Steady vortex heat test method
(eqvIEC 60068 2-3: 1984)
GI3/T2123.5-1995 Environmental testing for electrical and electronic products Part 2: Test methods Test Fa and guidelines: Shock (idtIEC 60068-2-27:1987)
GB/T2423.10--1995 Environmental testing for electrical and electronic products Part 2: Test methods Test Fc and guidelines: Vibration (idtIEC 60068-2-27:1987)
GB/T2423.10--1995 Environmental testing for electrical and electronic products Part 2: Test methods Test Fc and guidelines: Vibration (idt IEC60068-2-6: 1982)
GE4208.-1993 Enclosure protection degree (IP code) (eqVIEC529: 1989) GB/4588.2.-1996 Single-sided and double-sided printed boards with metallized holes (idtIEC/PQC90: 1990) GB/T4588.4-1996 Multilayer printed boards (idtIFC/PQC91: 1990) G3 48241996 Measurement methods and limits of electromagnetic disturbance characteristics of industrial, scientific and medical (ISM) radio frequency equipment GB/T5080.7--1986 Equipment reliability test Failure rate and mean time between failures under constant failure rate assumption verification test plan (idtIFC605-7:1978)
Industrial machinery electrical equipment - Part - General technical conditions (eqvIFC:20.1-1:1992) GI3/T 5226.1--1996
GB15760--1995 General technical conditions for safety protection of metal cutting machine tools Limits of harmonic current emitted by low-voltage electrical and electronic equipment (equipment input current per phase, 16A) GB 17625.11998
(eq IEC 61000-3-2:1995)
GI3/T17626.2-1998 Electromagnetic compatibility test and measurement technology Electrostatic discharge immunity test (idt IFC 61000-4-2: 1995)
GB/17626.4-1998 Electromagnetic compatibility test and measurement technology Electrical fast transient pulse group immunity test (idt IFC 61000-4-4: 1995)
GB/T17626.5---1999 Electromagnetic compatibility test and measurement technology Surge (impact) immunity test (idt IFC 61000-4-5:1995)
Approved by China Machinery Industry Federation on June 4, 2001 552
Implementation on October 1, 2001
G/T 17626.11--1999
JB/T 10270—2001
Electromagnetic compatibility test and measurement technology Voltage dips, short interruptions and voltage variations immunity test (idt IFC 61000-4-11:1994)
IEC61491:1995 Real-time serial communication data link between control and drive devices of electrical equipment of industrial machinery 3 Definitions
This standard adopts the following definitions.
3.1 DC servo drive unit
When the CNC machine uses a DC servo motor as a servo transmission component, the corresponding DC servo motor control device is the DC servo drive unit, hereinafter referred to as the servo unit. 3.2 DC servo drive device
The DC servo unit and the DC servo motor are connected together to form a DC servo drive device, hereinafter referred to as the servo device. 3.3 Rated output capacity
When the servo device works at the rated load and rated speed, and the servo unit is in a state of long-term continuous operation without alarm, the maximum power that the servo unit can continuously output is called the rated output capacity. 3.4 Speed change rate (static error rate)
When the servo device is at a given speed, the load increases from no load to the maximum load at the speed specified in the continuous working area, the relative value of its speed change is called the speed change rate (static error rate) S. When expressed as a percentage: S(%) = no=ni × 100%
Where: nm—speed under no load;
speed under load.
3.5 Speed range (speed ratio)
Speed range D refers to the ratio of the maximum speed nmax to the minimum speed nmin when the maximum load H allowed on the motor shaft at the maximum speed is applied to the speed change rate S is not greater than the specified value when the servo device is in the speed control system. The speed range is calculated using formula (2): D= nux
3.6 Steady speed accuracy
When the servo device is running continuously at the rated speed and specified load conditions, when the power supply voltage changes, or the ambient temperature changes, or the power supply voltage remains unchanged and the ambient temperature remains unchanged but it runs continuously for several hours, the absolute value of the maximum difference between the actual speed of the motor and the rated speed and the percentage of the rated speed are respectively called the steady speed accuracy of voltage change, the steady speed accuracy of temperature change, and the steady speed accuracy of time change. Then the steady speed accuracy%):
where n.-…actual speed;
n. Rated speed.
8(%) = Ln: - ne l
×100%
·（3)
3.7 Static stiffness
A servo device with a position closed loop is in a no-load zero-speed working state. A continuous torque T: is applied to the forward or reverse direction of the motor shaft end. The angular offset △0 of the shaft is measured at intervals. Then Ta
Static stiffness
This standard stipulates that the angular displacement is expressed in decimals, and the unit of static stiffness is N·m/（\）. .(1)
3.8 Stability
It indicates the ability of the servo device to resist torque load disturbance. Generally, the dynamic process after a sudden step load F is added during stable operation of the device is taken as a typical disturbance process (see Figure 1). 553
Dynamic speed drop
JB/T10270—2001
When the servo device is running in steady state, the ratio of the maximum speed drop △nmx caused by the sudden application of torque load to the motor to the original steady state value nwl is called dynamic speed drop. The servo device then gradually reaches a new steady state value nw2, and (nwl-nw2) is the steady state drop of the device under the disturbance. The relative value of the dynamic drop of the servo device when a sudden load disturbance is added is called dynamic speed drop AZ(%).
Az(%)
3.8.2 Recovery time
Anmx×100%
Take the 1% range of the original steady-state value near the new steady-state value as the allowable error band. The minimum time required from the start of the step disturbance to the speed basically recovering to the steady state and entering and no longer exceeding the error band is defined as the recovery time, represented by t (see Figure 1). nt
Figure 1 Time response curve of sudden load
3.9 Followability
The change in the speed output of the servo device under the action of a given signal change is described by the followability index. The transition process under a given signal step change is also called step response. It is represented by the following three items (see Figure 2). n+
Rise time t.
土5%1
Figure 2 Time response of step input
Rise time t. represents the time it takes for the speed output to rise from zero to 90% of the steady-state value nw for the first time, which represents the rapidity of dynamic response.
Overshoot.
JB/T 10270---2001
Overshoot? It indicates the ratio of the maximum speed difference (nmx\nw) of the speed output exceeding the steady-state value to the steady-state value w. It reflects the relative stability of the servo device. When expressed as a percentage, it is a(%) nmax
Adjustment time t
X 100%
Take the range of 5% of the steady-state value near the steady-state value of the step response curve as the allowable error band, and define the minimum time required for the response curve to reach and no longer exceed the error band as the adjustment time, also known as the transition process time. It is used to measure the speed of the entire adjustment process of the device.
4 Technical requirements
4.1 Environmental adaptability
The servo unit specified in this standard can work normally under the following conditions. 4.1.1 Climate adaptability
The working climate conditions and storage and transportation climate conditions of the servo unit are shown in Table 1. Table 1
Ambient temperature
Relative humidity
Atmospheric pressure
4.1.2 Altitude
Working climate conditions
0~~40℃
30%~~95% (non-condensing)
86--106 kPa
Storage and transportation climate conditions
40~--55℃
≤95%(40℃)
86-106 kPa
When the altitude does not exceed 1000m, the servo unit should be able to guarantee various technical indicators. When the altitude exceeds 1000m, the weakening of air cooling effect must be considered. At this time, it is necessary to design and use it according to the agreement between the manufacturer and the user. 4.1.3 Vibration and shock
The servo unit shall be able to withstand the vibration and shock tests specified in 5.22 and 5.23. After the test, the servo unit shall not have mechanical damage, deformation, or looseness of the fastening parts (the fastening parts are sealed with paint dots). The electrical performance shall not be affected after power is turned on and it shall be able to work normally. Note: When obvious resonance occurs due to the vibration frequency of the installation foundation being the same as the resonance frequency of the servo unit, vibration reduction measures shall be taken for the servo unit. 4.1.4 AC power supply
The servo unit shall be able to work normally under the following AC input power conditions. 4.1.4.1 The input power supply voltage value is 0.85~1.1 times the rated input voltage. 4.1.4.2 The frequency fluctuation shall not exceed ±1Hz. 4.2 Electrical and Mechanical Structure
4.2.1 Structural Design
The safety of the servo unit structure shall comply with the requirements of 7.1 and 7.2 of GB15760--1995, and shall ensure safety, reliability and convenient maintenance during installation, commissioning, use and maintenance. The structure shall be firm and shall be able to withstand vibration tests under specified conditions.4.2.2 Appearance
The surface shall be flat, without bumps, scratches, cracks or deformation, and the coating and plating shall not have bubbles, flow marks or rust.4.2.3 Protection Level
The protection level of the servo unit installed in the electrical cabinet shall not be lower than IP2X. The housing of the independently installed servo unit shall have sufficient ability to prevent the intrusion of solid objects and liquids from the outside, and the protection level shall not be lower than IP54. The protection level shall be specified in the special technical conditions.
4.3 Basic Requirements for Components and Accessories
4.3.1 Components, Devices, Accessories and ComponentsJB/T 10270—2001
Components, devices, auxiliary parts and parts shall comply with the provisions of the relevant standards and installation procedures. 4.3.2 Printed circuit boards
Printed circuit boards shall comply with the provisions of Chapter 5 of GB/T4588.2-1996 and Chapter 5 of GB/T4588.4-1996. 4.3.3 Colors of indicator lights and buttons
The colors of indicator lights and buttons shall comply with the provisions of Chapter 10 of GB/T5226.1--1996. 4.3.4 Colors of wires and busbars||t t||The color of the wire and the cable should comply with the provisions of Chapter 15 of GB/T5226.11996. 4.3.5 Crimping, welding and wrapping wiring
Crimping, welding and wrapping wiring should ensure long-term good conductivity, and the wire diameter and wiring of the connecting wire should comply with the provisions of Chapters 14 and 15 of GB/5226.11996
4.4 Electrical performance requirements
4.4.1 Insulation resistance
Except for the circuits that are not allowed to be tested with high voltage in the servo unit, the insulation resistance of the test points (including the power supply) shall be The insulation resistance measured when 500Vd.c. is applied between the power circuit and the protective grounding terminal should be no less than 20M, and the insulation resistance after constant humidity and heat test should be no less than 1Ma. When the servo unit is powered by a transformer (the transformer is part of the servo unit, but not integrated with the servo unit), the insulation resistance of the transformer part should be measured in accordance with relevant regulations. 4.4.2 Withstand voltage test
The power circuit and protective grounding in the servo unit should be able to withstand a withstand voltage test of at least 1min. The test voltage applied should be twice that of the servo unit. Rated power supply voltage or 1000V (whichever is greater), there should be no insulation breakdown or arcing during the test. The effective value of the leakage current should not be greater than 5mA. The insulation resistance measured immediately after the test should comply with the provisions of 4.4.1. During factory inspection, the 1min withstand voltage test can be replaced by a 5s test, and the test voltage remains unchanged.
Components that are not suitable for high-voltage testing are disconnected during the test. When the servo unit is powered by a transformer (the transformer is part of the servo unit, but is not integrated with the servo unit), the transformer part should be subjected to a withstand voltage test in accordance with relevant regulations. 4.4.3 Rated output capacity
The rated output capacity of the servo unit shall be specified in the special technical conditions, and the following data shall be selected first: 0.18, 0.25, 0.37, 0.55, 0.75, 1.1.1.5, 2.2, 3.7, 5.5, 7.5, 11, 15, 18.5, 22kVA4.4.4 Speed change rate
The speed change rate at the lowest speed shall be specified in the special technical conditions. 4.4.5 Speed regulation range
The speed regulation range shall be specified in the special technical conditions, and the following data shall be selected first: 500:1, 1000:1. 2000:1, 3000:1, 5000:14.4.6 Steady speed accuracy
Steady speed accuracy shall be specified in the special technical conditions. 4.4.7 Stability
When the servo device is in steady-state operation, the rated load torque is suddenly applied to the motor or the rated load is suddenly removed. The maximum dynamic speed drop and recovery time of the motor shall be specified in the special technical conditions. 4.4.8 Followability
When the servo device is under no-load condition, the step signal of the rated speed is input, and the time response of the motor speed change, the overshoot time and the adjustment time shall be specified in the special technical conditions. 4.4.9 Forward and reverse speed difference
When the instrument changes the input command voltage polarity, the forward and reverse speeds of the motor at the rated speed shall be specified in the special technical conditions.
4.4.10 High and low temperature operation
JB/T 10270--2001
The servo unit should be able to operate continuously and reliably under the working climate conditions specified in 4.1.1 and the power supply conditions specified in 4.1.4.4.11 High and low temperature storage
The performance and appearance of the servo unit should not change after the high and low temperature storage test: 4.4.12 Steady damp heat
The servo unit should be able to withstand a steady damp heat test with a severity level of (40 ± 2) °C and a relative humidity of 93% to 95% for 2 days. After the test, the insulation resistance is measured in the box and should meet the requirements of 4.1.1. The drive unit should not show any deterioration in appearance and should be able to work normally.
4.4.13 Static stiffness
The static stiffness of the servo device with position control should be specified in the special technical conditions. 4.4.14 Protection
4.4.14.1. The servo unit shall be provided with over-current, over-voltage, under-voltage and phase loss protection. 4.4.14.2. The servo unit shall be provided with short-circuit protection. 4.4.14.3. The servo unit shall be provided with over-speed and stall protection. 4.4.14.4. The servo unit shall have overload protection function, and its current-time relationship diagram or table shall be specified in the technical conditions of the special Sichuan.
4.4.15.1. The analog input signal of the servo unit with closed speed loop is -10~10V self-flow voltage, and the input impedance shall not be less than 10k2. It can also be a digital input signal. In the absence of special provisions, the digital input signal can be introduced in accordance with the provisions of IF61491. 4.4.15.2. The servo unit shall have the following basic exchange signals with the numerical control device: a) ready (output);
bh) allow/block work (input).
4.4.16 Protective grounding
The servo unit shall be provided with a protective grounding terminal with a PE mark. The neutral line N of the power supply shall not be connected to the PE terminal inside the servo unit. The grounding wire connection inside the unit shall comply with the requirements of Chapter 8 of GB/T5226.1-1996. The continuity requirements of the protective grounding circuit shall meet the requirements of 20.2 of GB3/T5226.1.-1996. 4.4.17 Immunity
The servo unit shall have the ability to resist interference from the power supply grid or external electromagnetic field, and be able to operate normally under the conditions specified in GB/T17626.2, GB/T17626.4, GB/T17626.5 and GB/T17626.11. 4.4.17.1 Electrostatic discharge immunity
When the servo unit is working, all parts frequently touched by the operator shall be tested. Conduct electrostatic discharge test. The contact discharge voltage is 6kV, and the air discharge voltage is 8kV. The servo unit should be able to work normally during the discharge test. If the servo unit does not have a casing, an indirect discharge test is used. 4.4.17.2 Immunity to electrical fast transient pulse groups When the servo unit is not working, add a pulse voltage peak of 2kV and a repetition rate of 2kH between the AC power supply terminal and the protective grounding terminal, or add a pulse group of 1kV and a repetition rate of 5kHz at the I/O signal, data and control terminal [1 cable with a coupling clamp. The servo unit should be able to work normally.
4.4.17.3 Surge immunity
Superimpose a surge voltage with a peak value of 1kV in the AC input power supply and a surge voltage with a peak value of 2kV superimposed on the AC input power supply to the ground. kV surge voltage, the servo unit should be able to work normally.
4.4.17.4 Voltage sag and short-time interruption immunity The servo unit should be able to work normally when the AC input power is interrupted for 3ms at any time within any cycle, and when the AC input power is temporarily reduced for 500ms at any time, the amplitude drops to 70% of the rated value, and the interval between the two tests is not less than 10s. 4.4.18 Reliability
The reliability of the servo unit is measured by the mean time between failures MTBF. The MTBF value of the servo unit is not less than 10000H. The actual value should be specified in the special technical conditions. 4.4.19 Electromagnetic interference
JB/T10270 -2001
When special technical conditions require, the conducted disturbance value and radiated disturbance value of the power supply end of the servo unit shall not exceed the limit value of Class A equipment in Group 1 specified in Chapter 6 of GB4824--1996. The harmonic current injected into the public low-voltage power supply system shall not exceed the limit value of Class A equipment specified in Chapter 7 of B17625.1-1998. 5 Test method
5.1 Test conditions and requirements
5.1.1 Test power supply
Unless otherwise specified, the test power supply shall comply with the following provisions: a) The power supply voltage shall be 0.85~1.1 times the rated input voltage; b) The difference between the frequency of the test power supply and the rated frequency shall be within the range of ±1Hz of the rated frequency. 5.1.2 Measuring instruments
During the test, the accuracy of the electrical measuring instruments used shall not be less than Class 0.5 (except for megohmmeters), the accuracy of current transformers shall not be less than Class 0.2, the error of thermometers shall not be greater than +1°C, and the accuracy of digital speed measuring instruments (including decimal frequency meters) shall not be less than 0.1%±1 word.
The equipment used for electromagnetic interference measurement and harmonic current measurement shall comply with the requirements specified in GB4824 and GB17625.1. When selecting instruments, the measured values shall be within the range of 20% to 95% of the instrument range. 5.1.3 Test equipment
The servo device test shall include the servo unit and the servo motor and the sensors attached to the motor. The voltage regulator, signal setting unit or CNC device and power distribution circuit that must be used in the test are not subject to inspection. During the entire test process, only the parameters and parameter setting values of the adjustable links are allowed to be appropriately adjusted. 5.1.4 Test conditions
Climate and environmental adaptability, vibration, shock, high and low temperature continuous operation and other tests or after the test, the normal operation of the servo device shall be checked under no-load operation. The inspection content shall include the range from the lowest speed to the highest speed of the motor, and the device shall not fail. 5.1.5 Environment
The inspection and test of various technical indicators in this standard shall generally be carried out under the conditions specified in Table 2 unless otherwise specified for the working environment conditions.
Ambient temperature
Relative humidity
Atmospheric pressure
5.2 Electrical and mechanical structure
Test conditions
15~35℃
45% ~- 75%
86106kPa
The servo unit shall comply with the provisions of 4.2 and 4.3 and the requirements of 4.4.15 and 4.4.16 when checked by the test method. 5.3 Insulation resistance inspection
5.3.1 Circuit connection for insulation resistance inspection
a) The input and output terminals of the control circuit and the power supply terminals and common terminals should be short-circuited. The control unit, board and components that are not allowed to withstand high voltage can also be disconnected. b) The insulation resistance inspection test is not performed between the circuits coupled by capacitors. When it is necessary to test the insulation resistance between the capacitor-coupled circuit and the internal equipment, the capacitor-coupled circuit should be temporarily short-circuited with a short-circuit wire. 5.3.2 Insulation resistance inspection test
Use a 500V megohmmeter with an accuracy of 1.0 to connect the power input terminal of the servo unit (the input terminal is not connected to the power grid, but the power switch and contactor in the single light are placed in the on position) and the protective grounding terminal. After applying the test voltage for 1min, read the insulation resistance value, which should meet the requirements of 1.4.1.
During the test, the contact points should be ensured to have reliable contact, and the insulation resistance between the test leads should be large enough to ensure accurate readings. 5.4 Withstand voltage test
The circuit connection of the withstand voltage test is the same as 5.3.1. The test is carried out between the power input end of the servo unit (the input end is not connected to the power grid, but the power switch and contactor in the unit are placed in the on position) and the protective grounding terminal. The test voltage is a 50Hz sine wave with an industrial frequency, and the capacity of the transformer used for the test should be no less than 500VA. The test voltage should start from zero or no more than half of the full value, and then increase evenly or gradually with each step not exceeding 5% of the full value. The time for the voltage to rise from half value to full value should be no less than 10s, and then maintained for 1min. After the test, the voltage will be gradually reduced to zero. For factory inspection, the 1min test can be replaced by the 5s test. The test results should comply with the provisions of 4.1.2. During the test, the control unit, board and components that are not allowed to withstand high voltage according to the design regulations should be disconnected. 5.5 Rated output capacity test
The servo device works at rated load and rated speed. When the servo unit is in long-term continuous operation (about 1h) without overheating alarm, the voltmeter and ammeter are used to measure the output voltage and output current of the servo unit respectively, and the output capacity of the servo unit is calculated accordingly, which shall comply with the provisions of 4.4.3.
5.6 Speed change rate test
Under the minimum speed command, read its no-load speed as nu, and then gradually increase the load until the maximum load value allowed at this speed: the speed at this time is measured as n1, and then the speed change rate is calculated according to formula (1), which shall comply with the provisions of 4.4.4. If the error of speed measurement exceeds 15% when the minimum speed is very low, the speed change rate is measured by the pulse period measurement method of the photoelectric pulse encoder, and the speed change rate is calculated according to formula (7). S(%) ==×100%
Where: T: · average value of the encoder pulse period when loaded; T. ·· average value of the encoder pulse period when no-load. 5.7 Speed range test
+*+++(7)
The speed range test is to apply the maximum load allowed at the maximum speed on the motor shaft, and when the speed change rate is not greater than the specified value, measure the maximum speed nmax and the minimum speed nmm, and then calculate the speed range according to formula (2), which should comply with 4.4.5.8 Steady speed accuracy test
5.8.1 Steady speed accuracy of voltage change
Under the test temperature conditions, make the servo unit run continuously at the rated load and rated speed (n.), and measure it continuously under the following conditions, with each measurement interval not less than 1 minute. Adjust the input voltage of the servo unit to 110% of the rated value, record the actual speed nl at this time, then adjust the input voltage to 85% of the rated value, measure the actual speed nz of the motor, and calculate the steady speed accuracy of voltage change according to formula (3), where i is 1 and 2 respectively, and the test results should meet the requirements of 4.4.6. 5.8.2 Steady speed accuracy of temperature change
The servo unit is placed in an artificial climate box under no-load conditions. The motor speed is adjusted to the rated speed at 20℃. Then, three consecutive measurements are made under the following conditions. The interval between each measurement is not less than 1min. The temperature is adjusted to 0℃. After thermal equilibrium (generally speaking, not less than 30min), the motor speed nl is measured. Then, the temperature is adjusted to 40℃. After thermal equilibrium, the motor speed nz is measured, and the steady speed accuracy of temperature change is calculated according to formula (3), where i is 1 and 2 respectively. The test results should meet the requirements of 4.4.6. 5.8.3 Steady speed accuracy of time change bZxz.net
The servo unit is placed in a normal climate environment, rated input voltage and no-load conditions. The motor speed is adjusted to the rated speed n. The ambient temperature change is maintained at no more than ±2℃. The operation is continuous for 8h. The speed m1 is measured every 0.5h. The steady speed accuracy of time change is calculated according to formula (3), where i=-1,2,,16. Take the maximum deviation value as the test result, which shall comply with the provisions of 4.4.6. 5.9 Stability performance test
When doing the stability performance test, the load of the motor can be dragged by a motor of the same model, specification and performance as the tested servo device, or by a powder brake or other loading equipment, but it should be proved that the influence of its moment of inertia and electrical time constant on the test result is not more than 5%. When the servo unit is running stably at no load and 0.5n. speed, suddenly add 0.5 times the rated load, and use a digital storage oscilloscope or other methods to record the time response curve of the speed change. According to the method shown in Figure 1, find out the dynamic drop, and calculate the dynamic speed drop △7 (%) and recovery time t according to formula (5), which shall comply with the provisions of 4.4.7. 5.10 Following performance test
Make the motor driven by the servo unit in the no-load zero speed state, and input the rated speed corresponding to 1. The time response curve of the speed increase process is recorded with a digital storage oscilloscope, and the rise time t, transient overshoot m and adjustment time l are read out. The overshoot can be calculated according to formula (6). Change the direction of the motor speed and repeat the following test. The above two sets of data should meet the requirements of 4.4.8. 5.11 Forward and reverse speed difference test
Under no-load conditions, the servo unit inputs the forward and reverse speed instructions of the rated speed (only the polarity is changed, but the value is not changed), and the forward and reverse speeds ntw and new of the motor are measured respectively, and the forward and reverse speed differences are calculated according to formula (8): An (%) -- 1nw
new × 100%
The forward and reverse speed differences should meet the requirements of 4.4.9. 5.12 High leakage operation test
Put the servo unit in a high temperature box and raise the temperature inside the box to (402)℃. After reaching thermal equilibrium (generally speaking, not less than 30 minutes): the motor runs at rated speed without load and keeps the temperature inside the box constant for 48 hours. The operating conditions (input voltage and operating time) are cyclically carried out according to the provisions of Table 3. The servo unit should be able to work normally. During factory inspection, it is allowed to run continuously for 4 hours at the rated input voltage only. The servo unit should be able to work normally.
Input power supply voltage
Running timeh
5.13 Low temperature running test
Rated value
Rated value+10%
Rated value
Rated value15%
Place the servo unit in a low temperature box and lower the temperature inside the box to (0±2)℃. After reaching thermal equilibrium (generally speaking, it takes no less than 30min), keep the temperature inside the box constant and run the motor continuously at rated speed (no load) for 4h. The servo unit should be able to operate normally. 5.14 High and low temperature storage test
5.14.1 High temperature storage test
Put the servo unit in a high temperature box and raise the temperature in the box to (55±2)℃. After reaching thermal equilibrium (generally speaking, not less than 30 minutes), keep the temperature in the box constant. Place the unit under test for 4 hours without power. After the test period, gradually lower the temperature to normal atmospheric conditions and place it under this condition for 4 hours. The cooling time in the box is not counted. Then check the appearance and power on. The servo unit should be able to work normally.
5.14.2 Low temperature storage test
Place the servo unit in a low temperature box, and lower the temperature inside the box to -(40±2)℃. After reaching thermal equilibrium (generally speaking, less than 30 minutes), keep the temperature inside the box constant, and place the unit under test for 4 hours without power. After the test period expires, gradually raise the temperature to normal atmospheric conditions and place it under this condition for 4 hours. The temperature rise time in the box does not count the placement time. Then check the appearance and power on. The servo unit should be able to work normally.
5.15 Constant humidity and heat test
Place the servo unit in a humidity and heat test box and conduct a constant humidity and heat test in accordance with the provisions of GB/T2423.3. The severity is in accordance with the provisions of 4.4.12. After the test, it should meet the requirements of 4.4.12. 5.16 Static stiffness test
Put the servo device with position control in the no-load zero-speed state, use a high-resolution and high-precision shaft angle sensor to detect the motor shaft angle position, and select the motor shaft angle at this time as the reference zero position. Use the method of hanging a magnetic code on a pulley, a force wrench or a lever spring balance to apply positive and reverse torque to the motor. The torque reaches the maximum torque specified in the motor's continuous working area. Measure the offset △9 of the motor shaft angle position to the reference zero position, and calculate the static stiffness according to formula (4). At least three test positions should be randomly selected, and a total of six sets of data should be measured in the forward and reverse directions. The calculation results should all comply with the provisions of 4.4.13.
5.17 Protection performance test
5.17.1 Power supply fault protection
JB/T 10270—2001
The power supply fault (overvoltage, undervoltage, phase loss) protection test of the servo unit is carried out under no-load conditions. Connect an adjustable power supply to the power input terminal of the servo unit, and slowly adjust the output voltage of the adjustable power supply to make it higher or lower than the allowable voltage (i.e. overvoltage or undervoltage) of the servo unit until overvoltage or undervoltage protection occurs. After restoring the normal working voltage, restart the servo unit and it should be able to work normally. When the servo unit suddenly opens any phase of the power supply during normal operation (when it is in an abnormal T working state), the servo unit should be effectively protected and not damaged. After restoring the normal wiring, restart the servo unit and it should be able to work normally. 5.17.2 Functional Fault Protection
When the servo unit is working normally, if the speed feedback signal or the thermal switch signal is suddenly disconnected, the servo unit should be protected and stop working. After restoring the normal wiring, restart the servo unit and it should be able to work normally. 5.17.3 Short Circuit Protection
The short circuit protection test of the servo unit is carried out under no-load conditions and rated voltage. While gradually increasing the speed, make the two power lines of the motor short-circuit suddenly until the servo unit has short circuit protection. After restoring the normal wiring, restart the servo unit and it should be able to work normally. 5.17.4 Overload protection test
The overload protection test shall be carried out according to the data of the overload protection current-time relationship table of the product-specific technical conditions. If the special technical conditions only provide the current-time curve, at least the maximum overload capacity, overload 50% and overload 10% points shall be taken for inspection and test.
During the test, the motor speed shall be set at 0.01. and the actual current value shall be monitored. Increase the load to the specified overload capacity, use a stopwatch to time the intervals, and record the time of overload protection action, which shall comply with the provisions of the special technical conditions. Factory inspection allows only the overload protection at the maximum overload capacity point to be checked, and it is mutually allowed to use the method of motor rotor blocking without using loading equipment to make the current reach the maximum overload current value. 5.18 Interface detection
Check that the servo unit should have the "basic exchange signal with the numerical control device" specified in 4.4.15, and detect that the input impedance of the servo unit should meet the requirements of 4.4.15.
After the servo device is powered on, the "ready" contact output signal of the servo unit should be closed. When the 10V input signal is input, the servo motor should be at the highest speed of forward and reverse rotation. At this time, the "blocking" signal is input and the motor should stop. 5.19 Protective grounding circuit continuity test
Test equipment and basic parameters:
Protective grounding circuit continuity tester (PEI.V) Test error 0.05V
Use PEI.V power supply (low voltage with frequency of 50Hz or 60Hz, current greater than 10A, time greater than 10s) to test between the PE terminal of the test object and different points of the protective grounding circuit components. The measured voltage drop between the PE terminal and each test point should not exceed the value specified in Table 1.
Minimum effective cross-sectional area of the tested protective conductor branch mm
5.20 Immunity (electromagnetic compatibility) test Maximum measured voltage drop
Immunity (electromagnetic compatibility) test includes electrostatic discharge immunity, electrical fast transient pulse group immunity, surge immunity and voltage sag and short-time interruption test. For detailed test methods, see Appendix A (Appendix to the standard). The test results shall comply with the provisions of 4.1.17. 561
5.21 Reliability test
JB/T 10270---2001
For details of the reliability test method, please refer to Appendix B (Appendix of the Standard). The test results shall comply with the provisions of 1.4.18. 5.22 Vibration test
Test equipment and basic parameters:
a) Vibration test bench;
b) Basic motion: sinusoidal function of time;c) Motion axis: three mutually multiplied straight axes;d) Frequency range: 10~55Hz;
e) Sweep rate: 1oct/minl10%
The servo unit under test is fixed on the vibration table after preliminary inspection. When powered on, it should be able to withstand the test conditions specified in Table 5. Vibration response and endurance tests shall be carried out in accordance with (B/T2423.10. After the test, it shall comply with the provisions of 4.1.3. Table 5
Vibration frequency
5.22.1 Test sequence
a) Initial vibration response check;
b) Fixed frequency vibration test;
) Final vibration response check.
Displacement amplitude
Number of frequency sweeps
Vibration time for each axis
Total vibration time for one axis
5.22.2 Initial vibration response check
Carry out the initial vibration response check in three mutually perpendicular axes according to the vibration conditions specified in Table 5. During the frequency sweep vibration, the test product shall be checked to determine the dangerous frequency at which the following phenomena occur: a) Failure and/or performance degradation of the test product due to vibration; b) Mechanical resonance and other responses, such as jitter. The dangerous frequency and applied amplitude in each axis shall be recorded. When there are many dangerous frequency points, four larger dangerous frequency points shall be selected in each axis.
5.22.3 Fixed frequency vibration test
Each dangerous frequency point in each upward direction shall be vibrated for 10 minutes with the same amplitude value. If there is no obvious dangerous frequency point in the initial vibration response check, the vibration should be maintained at the highest frequency (55H2) in three axes with an amplitude of 0.15mm for 10 minutes each. 5.22.4 Final vibration response check
Repeat the test of 5.22.2 and observe the frequency of the dangerous frequency point, and compare it with the record of the initial vibration response check. The dangerous frequency point should not change significantly.
5.23 Shock test
The servo unit is fastened to the shock table in the normal working installation mode and should be able to withstand the test conditions specified in Table 6. The shock test is carried out in accordance with the provisions of GB/T2423.5. After the test, the test product should meet the requirements of 4.1.3. Table 6
Peak acceleration
Pulse duration
Pulse waveform
Half sine
Number of impacts on each axis
Total number of vertical and horizontal axes
5.24 Power adaptability test
The test product is powered by a variable frequency power supply (frequency and voltage are adjustable, and the power supply capacity should be greater than the capacity of the test unit). According to the power supply voltage level of the test product, the static power supply pull-off test is carried out on the test product with load and in working state according to several combinations specified in Table 7. The test duration under the chain combination conditions is not less than 15 minutes. The test results should comply with the provisions of 4.1.4. 562
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