1, the initialization parameters
Before connection initialization parameter.
On the control card: choose the right control mode; Will reset the PID parameters; Let the electricity control card when the default enabled signal close; To preserve this status and to ensure that the control card again for this state to electricity.
On the servo motor: set the control mode; Set the enabled by external control; The encoder signal output of the gear ratio; Set the control signal and the proportion of the motor speed. In general, it is suggested that the maximum design speed in the work of the servo control voltage for the 9 v. For example, the mountain is set 1 v voltage corresponding to the rotational speed, the factory value is 500, if you are ready to make the motor in 1000 turn the following work, then set this to 111.
Connect the power control card, control card and servo signal lines. The following line is to be answered: control card analog output line, enabling signal lines, servo signal output of the encoder. Review when the connection is free from error, motor and electric control CARDS (and PC). The motor should not move, and can be used easily rotational force, if not, check the Settings of enabling signal and wiring. Turn the motor by the external force, check whether the control card is the change of the motor position can be detected correctly, or check the encoder signal connection and Settings
3, test the direction
For a closed-loop control system, if the direction of the feedback signal is not correct, must be disastrous consequences. By opening the servo control card enabling signal. This is servo should rotate at a low speed, this is the legendary "zero drift". General control card will have zero drift instruction or parameters. Using this command or parameter, whether motor speed and direction can be controlled by this directive (parameters). If you can't control, check the analog wiring and control mode of parameter Settings. Forward confirmation given positive number, motor, encoder count; Around the given negative, motor, encoder count decreased. If the motor with load, stroke is limited, do not use this way. Test voltage, don't give too much advice below 1 v. If the direction is not consistent, can modify control parameters on the card or motor, so that it is consistent.
4, inhibition of zero drift
In the process of closed loop control, the existence of zero drift will have a certain influence on control effect, best to suppress it. Using the control card or suppress zero drift on the servo parameters, adjust carefully, make the speed of the motor is close to zero. Because of the zero drift itself also has a certain randomness, so, don't require motor speed is absolute zero.
5, to set up the closed loop control
Again go through servo control card will make can signal, on the control card to enter a smaller proportion of gain, as to how much smaller, this only by feeling, if there is not trust, input control card can allow the minimum value. Open the control card and servo enable signal. At this time, the motor should have been able to make action according to the movement instruction is roughly.
6, adjusting loop parameters
Fine tuning of control parameters, to ensure that the motor according to the motion control card of instruction, this work is to be done, and this part of the work, the more experience, can only from here.
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