Does not involve the specific model of the card, and the control card brand model is different, the specific wiring and instructions are also different, and even some features, not necessarily support for each type of control card, we refer to it.
1, initialization parameters
Initialize the parameters before wiring. 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 status 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 external control; the gear ratio of the encoder signal output; set the proportional relationship between the control signal and the motor speed. In general, it is recommended that the maximum design speed in the servo operation corresponds to a control voltage of 9V. For example, Panasonic is set to 1V voltage speed, the factory value is 500, if you only want to let the motor work under 1000, then set this parameter to 111.
2. The connection will 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 checking the wiring without errors, the motor and control card (and PC) are powered on. At this point, the motor should not move, and it can be rotated easily with external force. If not, check the setting and wiring of the enable signal. Turn the motor with external force to check whether the control card can correctly detect the change of the motor position, otherwise check the wiring and setting of the encoder signal.
3, test direction
For a closed-loop control system, if the direction of the feedback signal is incorrect, the consequences are certainly catastrophic. The servo enable signal is turned on by the control card. This is where the servo should turn at a lower speed. This is the legendary "zero drift." There are instructions or parameters that suppress zero drift on the general control card. Use this command or parameter to see if the motor speed and direction can be controlled by this command (parameter). If it cannot be controlled, check the parameter settings of the analog wiring and control method. Confirm that the positive number is given, the motor rotates in the forward direction, and the encoder count increases; when the negative number is given, the motor rotates in reverse and the encoder count decreases. If the motor has a load and travel is limited, do not use this method. Do not give excessive voltage test, it is recommended below 1V. If the directions are inconsistent, you can modify the parameters on the control card or motor to make them consistent.
4, inhibit zero drift
In the process of closed-loop control, the existence of zero drift will have a certain influence on the control effect, and it is best to suppress it. Use the control card or the servo to suppress the zero drifting parameter, and carefully adjust it so that the speed of the motor approaches zero. Since the zero drift itself also has a certain degree of randomness, it is not necessary to require the motor speed to be absolutely zero.
5, the establishment of closed-loop control
Releasing the servo enable signal through the control card again, entering a small proportional gain on the control card, as to how much smaller, this can only be felt, if it is not assured, enter the minimum allowable control card value. Turn on the control card and servo enable signals. At this time, the motor should have been able to roughly act according to the movement instructions.
6, adjust the closed-loop parameters
Fine-tuning the control parameters to ensure that the motor moves in accordance with the command of the control card is a must-do work. This part of the work is more of an experience and can only be omitted here.