First: Initialize the 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 enabling signal is turned off by default; Save this status to ensure that this is the condition when the control card is powered on again.
On the servo motor: set the control method; The setting enable is externally controlled; the gear ratio of the encoder signal output; Set the proportional relationship between the control signal and the speed of the motor. In general, it is recommended that the maximum design speed in servo operation correspond to the operating voltage of 9V.
Second: wiring
Power off the control card and connect the signal cable 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 servo motor and control card (as well as the PC) are powered on. At this point, the motor should not be moving, and it should be able to roll easily 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 orientation of the motor, otherwise check the wiring and setting of the encoder signal.
Third: test the direction
For a closed-loop control system, if the feedback signal is not oriented correctly, the consequences can be catastrophic. The enable signal of the servo is turned over through the control card. This is where the servo should roll at a lower speed, which is the legendary "zero drift".
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 increases; 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. Do not give too much voltage in the test, and advocate below 1V. If the directions are not the same, the parameters on the control card or motor can be corrected to make them common.
Fourth, 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. Since zero drift itself also has a certain randomness, there is no need for the motor speed to be absolutely zero.
Fifth: Establish closed-loop control
Again through the control card to release the servo enable signal, on the control card input a small proportion of gain, as for how small is small, this can only be based on feeling, if the real is not assured, enter the minimum value that the control card can allow. Turn over the enable signals of the control card and the servo. At this point, the motor should be able to roughly act according to the motion commands.
Sixth: 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 job, and this part of the operation is more of an experience, which can only be omitted here.
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