Generally, there are three control modes for servo: speed control mode, torque control mode, and position control mode.
1. Speed control
(1) Speed system, that is, the motor runs according to the given speed command.
(2) The application occasions of speed control are quite wide, and the use occasions are: continuous speed regulation system that requires fast ringing; Closed-loop positioning system by upper position; Systems that require multi-bar speeds for fast switching.
(3) Usually the speed of the servo is given as an analog quantity, that is, the size of the analog amplitude determines the magnitude of the given speed, and the positive and negative motor should be determined by the speed command gain (Pn300).
Notes:
(1) The speed loop gain Pn102 is usually set higher to make the whole system respond faster, and the rigidity of the motor will also be enhanced. However, a large gain may cause the system to vibrate. Generally, when the load inertia is large, the parameter is set larger.
(2) The velocity loop integration time Pn103, its function is to eliminate the static difference, the larger the value is set, the slower the response, and the longer the time to reach the instruction. In general, the greater the load inertia, the greater the integration time should be set.
(3) When the host computer is closed-loop, the soft start deceleration time parameters Pn306 and Pn307 should not be set as much as possible.
(4) If there is no upper computer for closed loop, and it is hoped that the motor can be completely stopped by analog, zero clamping or proportional control must be adopted.
(5) When the host computer is used as the position closed-loop, the analog quantity cannot be automatically adjusted to zero.
2. Torque control
(1) Non-speed control, the torque that controls the output is the typical torque control.
(2) It is often used in tension control and other occasions
(3) The input is an analog quantity, and the relationship between the analog quantity and the torque size depends on the torque command gain.
(4) For example, if the user sets Pn400 to 100, it means that the output torque of the motor can reach 100% of its rated torque when the analog quantity of 10ν is input.
Notes:
(1) Torque control should first pay attention to limiting the motor speed, the motor speed can be limited by analog quantity, or the speed can be limited by setting parameters.
(2) The smaller the value of the torque command gain Pn400 is set, the greater the torque corresponding to the same analog quantity.
3. Position control
Position control is widely used in various positioning occasions and can directly replace various stepper drive systems. In general, the servo controls the position by receiving pulses, the number of pulses determines the position, and the frequency of the pulses determines the speed of the motor. The position equivalent of a pulse depends on the mechanical structure and the electronic gear.
Notes:
(1) The displacement of each point is composed of two parameters, and the actual programmed displacement is composed of the algebraic sum of the two parameters, pay attention to the units of the two parameters.
(2) Pay attention to the speed of the search reference point, if the speed is too large, you can set the soft start acceleration and deceleration to reduce the impact on the machine.
(3) In point control, 1CN can be realized without any input or input.
(4) At present, it is only possible to change the order of steps.
(5) Users can communicate through the touch screen and servo through the Modbus protocol, and then can modify the position, speed, etc. through the touch screen.
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