Servo drive is a kind of controller used to control servo motor, its function is similar to that of an inverter acting on an ordinary AC motor, which is a part of the servo system and is mainly used in high-precision positioning systems.
Servo drive is an important part of modern motion control, which is widely used in industrial robots and CNC machining centers and other automation equipment. Generally, there are three control modes for servo: position control mode, torque control mode, and speed control mode.
1. Position control
The position control mode is generally to determine the size of the rotation speed through the frequency of the external input pulse, to determine the rotation angle through the number of pulses, and some servos can directly assign the speed and displacement through communication, because the position mode can have a very strict control over the speed and position, so it is generally used in the positioning device.
2. Torque control
The torque control mode is to set the output torque of the motor shaft by the input of the external analog quantity or the assignment of the direct address, and the set torque can be changed by changing the setting of the analog quantity in real time, and the value of the corresponding address can also be changed by means of communication.
The application is mainly in the winding and unwinding devices that have strict requirements for the material, such as winding devices or optical fiber pulling equipment, and the setting of torque should be changed at any time according to the change of the winding radius to ensure that the force of the material will not change with the change of the winding radius.
3. Speed mode
The rotation speed can be controlled by the analog input or the frequency of the pulse, and the speed mode can also be positioned when the outer loop PID control with the upper control device is controlled, but the position signal of the motor or the position signal of the direct load must be fed back to the upper position for calculation. The position mode also supports the direct load outer ring to detect the position signal, the encoder at the motor shaft end only detects the motor speed, and the position signal is provided by the detection device at the direct final load end, which has the advantage that the error in the intermediate transmission process can be reduced, and the positioning accuracy of the whole system is increased.
If there is no requirement for the speed and position of the motor, as long as a constant torque is output, of course, the torque mode is used.
If you have certain accuracy requirements for position and speed, and you are not very concerned about real-time torque, it is not convenient to use torque mode, and it is better to use speed or position mode.
If the upper controller has a better closed-loop control function, the effect of speed control will be better, if the requirements are not very high, or there is basically no real-time requirements, the position control mode is adopted.
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