Servo Motor debugging
1, initialization parameters
Before wiring, initialize the parameters.
On the control card: select the control mode; clear the PID parameter;make the control card power on default turn off enable signal;save this state,ensure that the control card power on again,it is this state.
On the servo motor: set the control mode;set enable controlled by external;encoder signal output gear ratio;set the control signal and the motor speed ratio. In general,recommend that the maximum design speed in the servo operation corresponds to a 9V control voltage.
Cut off the power of control card,connect the signal cable between the control card and the servo system. The following
cables must be connected: the control card analog output cable, enable signal cable, the servo output encoder signal cable.Check the wiring without error,servo motor and control card (and PC) are powered on. At this point,servo motor should not move, and can be easily rotated with external force, if not like this,check the enable signal setting and wiring. Rotate the motor with an external force to check if the control card can correctly detect the change of the motor position. Otherwise check the wiring and setting of the encoder signal
3, try the direction
For a closed-loop control system, if the direction of the feedback signal is not correct, the consequences are certainly disastrous. Open the servo enable signal via the control card.At this condition,servo motor should rotate at lower speed ,which is the legendary "zero drift". General control card will have the instructions or parameters to suppress zero drift.Use this command or parameter to see if the motor speed and direction can be controlled by this command (parameter). If can not control,check the analog wiring and control mode parameter settings.Make sure a positive number is given, the motor forwards,the encoder count increases; gives a negative number, the motor reverses, and the encoder count decreases.If the motor is loaded,with a limited stroke, do not use this method. Do not try to give too much voltage, recommend below 1V. If the direction is inconsistent,can modify the control card or motor
parameters to make it 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 parameters to suppress zero drift, carefully adjusted, so that the motor speed approaching zero. As the zero drift itself also has a certain randomness, so do not have to ask the motor speed is absolutely zero.
5,establish closed-loop control
Through the control card to release the servo enable signal,input a smaller proportional gain on motion control card,if it is not sure, you can enter the control card allowing the minimum value.Turn on control card and servo enable signal.At this time, the motor should been able to follow the motion instructions to make a general action.
6.adjust the closed-loop parameters
Fine control parameters to ensure that the motor run in accordance with the instructions of the control card,it is the work must be done, and this part of the work,based on rich experience.