Servo motor debugging method

1. Initialization parameters Before wiring, initialize the parameters. [2] On the control card: select the control mode; clear the PID parameters; let the default enable signal turn off when the control card is powered on; save this state to ensure that the control card is in this state when it is powered on again. On the servo motor: set the control mode; set the enable to be controlled externally; 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 maximum design speed in servo work corresponds to a control voltage of 9V. For example, Sanyo sets the speed corresponding to 1V voltage, and the factory value is 500. If you only plan to make the motor work below 1000 rpm, 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 wires must be connected: the analog output wire of the control card, the enable signal wire, and the encoder signal wire of the servo output. After rechecking that there is no error in the wiring, power on the motor and control card (and PC). At this time, the motor should not move, and it can be easily rotated with external force. If not, check the setting and wiring of the enable 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 direction For a closed-loop control system, if the direction of the feedback signal is not correct, the consequences must be catastrophic. Turn on the enable signal of the servo through the control card. This is the servo should rotate at a lower speed, which is the legendary "zero drift". Generally, there will be instructions or parameters to suppress zero drift on the control card. Use this command or parameter to see if the motor speed and direction can be controlled by this command (parameter). If it cannot be controlled, check the analog wiring and the parameter settings of the control mode. Confirm that a positive number is given, the motor rotates forward, and the encoder count increases; when a negative number is given, the motor rotates reversely, and the encoder count decreases. If the motor is loaded with a limited stroke, do not use this method. Do not give too much 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 make them consistent. 4. Suppress 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 control card or servo parameters to suppress zero drift, and carefully adjust to make the motor speed approach zero. Since the zero drift itself has a certain degree of randomness, it is unnecessary to require the motor speed to be absolutely zero. 5. Establish closed-loop control Let go of the servo enable signal through the control card again, and enter a smaller proportional gain on the control card. As for how big it is, it can only be based on feeling. If you are not at ease, enter the smallest allowable control card. value. Turn on the enable signal of the control card and servo. At this time, the motor should be able to roughly act according to the motion command. 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 the work that must be done, and this part of the work is more of experience, which can only be omitted here.