- Initializingparameters
Before wiring, initialize the parameters.
On the control card: select the control method; clear the PID parameters; let the default enable signal turn off when the control card is powered on; save this state to ensure that the control card is in this state when it is powered on again.
On the servo motor: set the control mode; set the enable to be controlled by the outside; set the gear ratio of the encoder signal output; set the proportional relationship between the control signal and the motor speed. Generally speaking, it is recommended that the maximum design speed in servo work corresponds to a control voltage of 9V.
- Wiring
Power off the control card and connect the signal line between the control card and the servo. The following lines must be connected: the analog output line of the control card, the enable signal line, and the encoder signal line of the servo output. After rechecking the wiring for no errors, power on the motor and control card (and PC). At this time, the motor should not move, and it can be easily rotated with external force. If not, check the setting and wiring of the enable signal. Rotate the motor with external force, check whether the control card can correctly detect the change of the position of the motor , if not, check the wiring and setting of the encoder signal
3.Testing direction For a closed-loop control system, if the direction of the feedback signal is not correct, the consequences must be catastrophic. Turn on the enable signal of the servo through the control card, the servo should rotate at a lower speed, which is the "zero drift" so called. Generally, there will be instructions or parameters to suppress zero drift on the control card. Use this command or parameter to see if the motor speed and direction can be controlled by it. If it cannot be controlled, check the analog wiring and the parameter settings of the control mode. Confirm that a positive number is given, the motor rotates forward, and the encoder count increases; when a negative number is given, the motor rotates reversely, and the encoder count decreases. If the motor is loaded with a limited stroke, do not use this method. Do not apply excessive voltage when doing test, below 1V would be better. If the directions are inconsistent, you can modify the parameters on the control card or the motor to make them consistent.
- Suppressingzero drift
In the closed-loop control process, the existence of zero drift will have a certain impact on the control effect, and it is best to suppress it. Use control card or servo parameters suppressing zero drift, and carefully adjust to make the motor speed approach zero. Since the zero drift itself has a certain degree of randomness, it is unnecessary to require the motor speed to be absolutely zero.
- Establishingclosed-loop control
Turn on the servo enable signal through the control card again, and enter a smaller proportional gain on the control card. As for the specific data, it can only be based on your feeling. If you worry about that, enter the minimum allowable control card value. Turn on the enable signal of the control card and servo. At this time, the motor should be able to roughly act according to the motion command.
- Adjustingclosed-loop parameters
It is necessary to adjust the control parameters carefully to ensure that the motor moves in accordance with the instructions of the control card and this part of the work is more of experience, which can only be omitted here.
