Today I will tell you about how to debug domestic Hechuan servo motor? Servo motor commissioning in 6 steps.
The servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into torque and speed to drive the control object.
Servo motors can be used in spark machines, manipulators, precision machines, etc., usually as long as there is a power source, and the accuracy requirements may generally involve servo motors.
Servo motors are debugged before they are used, as follows:
Servo motor debugging should know 6 steps
1. Initialize parameters
Before wiring, initialize the parameters.
On the control card: select the control method; Clear the PID parameter to zero; Make the enabling signal turn off by default when the control card is powered on; Save this state to ensure that it is the status when the controller is powered up again.
On the servo motor: set the control mode; Setting enablement is externally controlled; The gear ratio of the encoder signal output; Set the proportional relationship between the control signal and the motor speed. In general, it is recommended that the maximum design speed in servo operation correspond to a control voltage of 9V. For example, Shanyang is to set the speed corresponding to 1V voltage, the factory value is 500, if you are only ready to make the motor work below 1000 revolutions, then, set this parameter to 111.
2. Wiring
Power off the control card and connect the signal line between the control card and the servo. The following lines must be connected: the analog output line of the control card, the enable signal line, and the encoder signal line of the servo output. After reviewing the wiring for errors, the motor and control card (and PC) are powered on.
At this time, the motor should not move, and can easily rotate with external force, if this is not the case, check the setting and wiring of the enabling signal. Turn the motor with an external force to check whether 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 directed correctly, the consequences are sure to be catastrophic. Turn on the enable signal of the servo through the control card. This is where the servo should turn at a lower speed, which is the legendary "zero drift". Generally, there will be instructions or parameters on the control card to suppress 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 it cannot be controlled, check the parameter settings of analog wiring and control mode.
Confirm that positive numbers are given, the motor is forward rotating, and the encoder count is increased; Negative numbers are given, the motor reverses, and the encoder count decreases. If the motor is loaded and the stroke is limited, do not use this method.
The test should not give too large voltage, it is recommended to be below 1V. If the orientation is inconsistent, the parameters on the control card or motor can be modified to make them consistent.
4. Inhibit zero drift
In the closed-loop control process, the existence of zero drift will have a certain impact on the control effect, and it is best to suppress it. Use the parameters on the control card or servo to suppress zero floating, and carefully adjust the speed of the motor to close to zero. Since the zero drift itself also has a certain randomness, it is not necessary to require the motor speed to be absolutely zero.
5. Establish closed-loop control
Again through the control card to release the servo enable signal, input a small proportional gain on the control card, as for how much is small, this can only be based on feeling, if you are really not assured, enter the minimum value that the control card can allow. Turn on the enable signals for the control card and servo. At this time, the motor should already be able to roughly act according to the motion instructions.
6. Adjust closed-loop parameters
Fine-tuning the control parameters to ensure that the motor moves in accordance with the instructions of the control card is a necessary work, and this part of the work requires more experience accumulation.