Initialize parameters before connecting.
On the control card: select the control mode; make the PID parameter zero; turn off the default enable signal when the control card is started; save this state to ensure that the control card is powered on again.
On the servo motor: set the control mode; set the gear ratio of the encoder signal output; set the proportional relationship between the control signal and the motor speed. Generally speaking, it is recommended that the large design speed of the servo work should correspond to the 9V control voltage.
Two lines
Close 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 checking the wiring, there is no error, and the servo motor and control card (and PC) are turned on. At this time, the motor should not move and can be easily rotated by external forces. If not, check the setting and wiring of the start signal. Rotate the motor with external force and check whether the control card can correctly detect the change of the motor position, otherwise check the wiring and setting of the encoder signal.
3. Try the direction
For closed-loop control systems, if the direction of the feedback signal is not correct, the consequences will be catastrophic. Turn on the servo enable signal through the control card. This is the servo system should rotate at a lower speed, which is the legendary "zero drift".
In general, there will be instructions or parameters to suppress zero drift on the general control card. Use this command or parameter to see whether 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. Determine the positive number of the motor, the encoder count increases, and the negative number is given, and the encoder count decreases.
If the motor is loaded and the stroke is limited, please do not use this method. Do not give too high voltage to the test, it is recommended to be below 1V. If the directions are inconsistent, you can modify the parameters on the control card or the motor to keep them consistent.
4. Suppress zero drift
In the closed-loop control process, the existence of zero drift has a certain influence on the control effect, so it should be suppressed. Use the control card or servo to suppress the zero-floating parameters, and adjust carefully to make the motor speed close to zero. Since the zero drift itself has a certain degree of randomness, there is no need to require the motor speed to be zero.
(5) Establish closed-loop control
Once again, the servo enable signal is released through the control card, and a small proportional gain is input on the control card. As for how big it is, it can only be felt. If you are really unsure, please enter the small value allowed by the control card. Turn on the enable signal of the control card and servo. At this time, the motor should be able to move roughly in accordance with the motion command.
6 adjust closed loop parameters
Finely adjust the control parameters to ensure that the motor moves according to the instructions of the control card. This is the work to be done, and this part of the work is more of experience, so I can only skim it here.
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