Servo motor debugging method
1, initialization parameters
Before wiring, initialize the parameters.
On the control card: Select the control mode; Clear the PID parameters; Turn off the default enable signal when the control card is powered on; Save this state to ensure that the control card is powered on again.
In the servo motor: set the control mode; set to enable external control; encoder signal output gear ratio; set the control signal and the motor speed proportional relationship. In general, it is recommended that the maximum design speed in servo work corresponds to a control voltage of 9V. For example, the ocean is set to 1V voltage corresponding speed, the factory value of 500, if you only want to make the motor at 1000 rpm below, then this parameter is set to 111.
Power off the control card and connect the signal cable between the control card and the servo. The following lines must be connected: control card analog output line, enable signal line, servo output encoder signal line. After checking the wiring without error, the motor and control card (and PC) are powered on. The motor should not move at this time, and can easily rotate with external force, if not, check the enable signal settings and wiring. Turn the motor with external force to check whether the control card can correctly detect the change of the motor position or check the wiring and setting of the encoder signal
3, try the direction
For a closed-loop control system, the consequences are certainly catastrophic if the direction of the feedback signal is not correct. Open the servo enable signal via the control card. This is the servo should be a lower speed of rotation, this is the legendary “zero drift.” General control card will have zero drift command or parameter. Use this command or parameter to see if the speed and direction of the motor can be controlled by this command (parameter). If you can not control, check the analog wiring and control parameter settings. Confirm that a positive number is given, the motor is running forward, and the encoder count increases; giving a negative number, the motor reverses and the encoder count decreases. Do not use this method if the motor has a load and the stroke is limited. Test not to give too much voltage, it is recommended below 1V. If the directions are different, you can modify the parameters on the control card or the motor to make them consistent.
4, to suppress zero drift
In the closed-loop control process, the existence of zero drift will have a certain impact on the control effect, it is best to suppress it. Use the control card or servo zero drift parameters, carefully adjusted so that the motor speed approaching zero. Due to the zero drift itself has a certain degree of randomness, so do not necessarily require motor speed is absolutely zero.
5, the establishment of closed-loop control
Once again by the control card to the servo enable signal release, the control card to enter a smaller proportional gain, as much as the smaller, which only by feeling, if it is not assured, enter the minimum allowable control card value. Turn on the control card and servo enable signal. At this time, the motor should have been able to make a general move in accordance with the motion instructions.
6, adjust the closed-loop parameters
Fine-tune the control parameters to ensure that the motor in accordance with the instructions of the control card movement, which is necessary to do the work, and this part of the work, more experience, here can only be omitted.