1. Torque control: The torque control mode is to set the output torque of the motor shaft through the input of external analog quantity or the assignment of the direct address, which is specifically manifested as for example, if 10V corresponds to 5Nm, when the external analog quantity is set to 5V, the output of the motor shaft is 2.5Nm: if the motor shaft load is lower than 2.5Nm, the motor rotates, the motor does not rotate when the external load is equal to 2.5Nm, and the motor reverses when it is greater than 2.5Nm (usually generated under the condition of gravity load). 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 device that has strict requirements for the force of the material, such as the wire rao device or the optical fiber pulling equipment, 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.
2. Position control: The position control mode is generally to determine the size of the rotation speed through the frequency of the external input pulse, and to determine the rotation angle through the number of pulses, and some servos can directly assign the speed and displacement through communication. Since the position mode can have a very tight control of speed and position, it is generally used in positioning devices.
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 given to the upper feedback 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 of reducing the error in the intermediate transmission process and increasing the positioning accuracy of the whole system.
4. Talk about the 3 rings. The servo motor is generally controlled by three rings, and the so-called three rings are three closed-loop negative feedback PID adjustment systems. The innermost PID ring is the current loop, which is completely carried out inside the servo drive, and the output current of each phase of the driver to the motor is detected by the Hall device, and the PID is adjusted by the setting of the negative feedback current, so as to achieve the output current as close as possible to the set current, and the current loop is to control the torque of the motor, so the operation of the driver in the torque mode is the smallest, and the dynamic response is the fastest.
The second ring is the speed loop, through the signal of the motor encoder detected to carry out negative feedback PID adjustment, its loop PID output is directly the setting of the current loop, so the speed loop control includes the speed loop and the current loop, in other words, any mode must use the current loop, the current loop is the root of the control, in the speed and position control at the same time the system is actually carrying out the current (torque) control to achieve the corresponding control of speed and position.
The third ring is the position ring, which is the outermost ring, which can be built between the driver and the motor encoder, or between the external controller and the motor encoder or the final load, depending on the actual situation. Since the internal output of the position control loop is the setting of the speed loop, the system performs the calculation of all three rings in the position control mode, and the system calculation amount is the largest and the dynamic response speed is the slowest
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Servo motor refers to the engine that controls the operation of mechanical components in the servo system, and is a kind of auxiliary motor indirect transmission device. The servo motor can make the control speed, the position accuracy is very accurate, and the voltage signal can be converted into torque and speed to drive the control object. Servo motor rotor speed ...
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There are many types of motors, and the ordinary motor we commonly use is the induction motor, although it and the servo motor are both motors, there are certain differences:
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A servo control system is a feedback control system that is used to accurately follow or reproduce a process. In many cases, the servo system refers specifically to the feedback control system in which the controlled quantity (the output of the system) is the mechanical displacement or displacement velocity and acceleration, and its function is to make the mechanical displacement of the output (or ...
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1. Speed control
(1) Speed system, that is, the motor runs according to the given speed command.
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1. Series motor:
The series motor has a high starting torque and a high current. This kind of motor has poor speed regulation.
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structure
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Estun Servo Motor - Servo Motor Top 10 Failure Analysis
1. Motor encoder alarm
1. The cause of the failure
(1) Wrong wiring;
(2) electromagnetic interference;
(3) Encoder hardware damage caused by mechanical vibration;
(4) Pollution caused by the on-site environment;
2. Troubleshooting
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Special attention should be paid to the following matters when the motor is regularly inspected during use:
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The cleaning of the motor shall not be less than once a month, and the dust inside shall be blown off with compressed air during cleaning.
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Estun servo motors – the difference between incremental encoders and absolute encoders
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To describe the pouring water, the incremental encoder is like, looking for a non...
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1. Check if the program starts normally, if not, update or reinstall.
2. Check if the robot operating system is working properly, upgrade or reinstall.
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Estun Industrial Robot Intelligent Manufacturing Base Project settled in Chengdu
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The system control instructions of the Estun robot are described in detail
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