1. Initialize parameters
Before wiring, initialize the parameters.
On the control card: select the control method; Reset the PID parameter to zero; When the control card is powered on, the enable signal is closed by default; Save this state to ensure that this is the status when the control card is powered on again.
2. Wiring
Power off the control card and connect the signal line between the control card and the servo. The following cables are required: the analog output cable of the control card, the enable signal cable, and the encoder signal cable for servo output.
After checking that there are no errors in the wiring, the motor and control card (as well as the PC) are powered on. At this point, the motor should not move and can be easily rolled with external force, if not, check the settings and wiring of the enable signal. Roll the motor with external force to see if the control card can correctly detect the change in the position of the motor, otherwise check the wiring and setting of the encoder signal.
3. Test the direction
For a closed-loop control system, if the feedback signal is not oriented correctly, the consequences can be catastrophic. Turn on the servo's enable signal via the control card. At this point, the servo should roll at a lower speed. Generally, there will be instructions or parameters on the control card to press zero drift. Use this command or parameter to see if the speed and direction of the motor can be controlled by this command (parameter).
If you can't control it, check the parameter settings of the analog wiring and control method. Confirm that a positive number is given, the motor is rotated forward, and the encoder count is added; A negative number is given, the motor is reversed, and the encoder count decreases. If the motor is under load and has a limited stroke, do not use this method.
4. Press 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 hold it down. Use the control card or servo to press the parameters of zero drift and carefully adjust it to make the speed of the motor close to zero. Because the zero drift itself also has a certain randomness, there is no need to require the motor speed to be zero.
5. Establish closed-loop control
Spread out the servo enable signal again through the control card, and input a small proportional gain on the control card, as for how small it is, this can only be felt, if you are really not at ease, enter the minimum value that the control card can allow. Turn on the enable signals of the control card and servo. At this point, the motor should now be able to roughly act according to the motion commands.
6. Adjust closed-loop parameters
Fine-tune the control parameters to ensure that the motor moves according to the instructions of the control card, which is a necessary work, and this part of the work is more experience, which can only be omitted here.
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