As the engine that controls the operation of the servo system, the servo motor is a kind of indirect transmission device of the auxiliary motor, so how to use it correctly is a very critical task.
The following motion controller uses analog signal control servo motor as an example to illustrate.
1. Initialize parameters
Initial parameters before wiring.
On the controller: select the control mode; Reset the PID parameter to zero; Let the default enable signal turn off when the controller is powered on; Save this state to ensure that it is the state when the controller is powered on again.
On the servo drive: set the control mode; Setup enable is externally controlled; the transmission 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 at which the servo works corresponds to a 9V control voltage.
2. Wiring
Power off the controller and connect the signal line between the controller and the servo. The following connections are required: the analog output line of the controller, the omnidirectional signal line, and the encoder signal line for the servo output. After rechecking that the wiring is error-free, power on the motor controller. At this time, the motor should not move and is easily turned by external forces. If not, check the settings and wiring of the enabled signal. Rotate the motor with external force and check whether the controller can correctly detect the change in the position of the motor; Otherwise, check the wiring and settings of the encoder signal.
3. Try directions
For closed-loop control systems, if the feedback signal is not oriented correctly, the consequences can be catastrophic. Turn on the servo enable signal through the controller. At this point the servo motor should rotate at a lower speed, which is known as "zero drift".
Typically, there are command parameters on the controller that suppress zero drift. Use the command or parameter to see if the speed and direction of the motor can be controlled by the command. If control is not possible, check the parameter settings for the analog connection and control mode. Confirm the positive number, the motor rotates forward, and the encoder count increases; Given a negative number, the motor reverses and the encoder count decreases. If you have an electrical load and a limited stroke, don't use this method. Don't give too much voltage when testing. Below 1V is recommended. If the directions are inconsistent, the parameters on the controller or motor can be modified to make them consistent.
4. Suppress zero drift.
In the process of closed-loop control, the existence of zero drift will have a certain impact on the control effect, and it is best to suppress it. The zero drift is suppressed by the parameters of the controller or servo, and the speed of the motor is carefully adjusted to approach zero. Because the zero drift itself has a certain randomness, there is no need to require the motor speed to be absolutely zero.
5. Establish closed-loop control.
Again, let the servo enable signal pass through the controller and input a small proportional gain on the controller. As for the size, you can only touch it. If you are really unsure, enter the decimal value that the controller can allow. Turn on the omnidirectional signal of the controller and servo. At this point, the motor should already be able to act roughly according to the motion command.
6. Adjust the closed-loop parameters
Fine-tuning the control parameters to ensure that the motor moves according to the controller's instructions is a necessary job.
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