1. Initialization Parameters
Before connecting the wiring, it's important to set up the initial parameters properly. On the control card, select the desired control mode and clear the PID settings. Ensure that the enable signal is disabled by default when the control card is powered on. Save this configuration so that the system will start in this state every time it’s turned on.
On the servo motor side, configure the control mode, set the enable signal to be controlled externally, define the encoder signal output ratio, and establish the relationship between the control signal and the motor speed. It is generally recommended that the maximum design speed corresponds to a 9V control voltage. For example, if a Panasonic motor is set to 1V per unit speed, and you want the motor to operate below 1000 RPM, adjust the parameter accordingly, such as setting it to 111.
2. Wiring
Turn off the control card and connect the signal cable between the control card and the servo motor. Make sure to connect the analog output line from the control card, the enable signal line, and the encoder signal line from the servo. After verifying the connections are correct, power on the motor, control card, and PC. At this point, the motor should not move on its own and should be easily rotated manually. If it doesn’t, check the enable signal settings and wiring. Rotate the motor manually to verify that the control card can detect position changes via the encoder. If not, review the encoder wiring and settings.
3. Test Direction
In a closed-loop system, an incorrect feedback direction can lead to serious issues. Enable the servo through the control card and observe the motor at a low speed—this is known as “zero drift.†Most control cards have commands or parameters to suppress zero drift. Use these to test whether the motor can be controlled in both directions. A positive input should make the motor rotate forward with increasing encoder counts, while a negative input should reverse it. Avoid using this method when the motor has a load or is in a limited stroke. Keep the test voltage under 1V to prevent damage. If the direction is wrong, adjust the parameters on either the control card or the motor to correct it.
4. Suppress Zero Drift
Zero drift can affect the performance of a closed-loop system. Use the control card or servo’s zero drift suppression features and fine-tune the settings to bring the motor speed close to zero. Since zero drift is inherently random, it’s not necessary for the motor to be completely stationary. Just ensure it’s stable enough for operation.
5. Establish Closed-Loop Control
After enabling the servo through the control card, apply a small proportional gain. The exact value depends on experience and testing. If unsure, use the minimum allowable value. Turn on the control card and servo enable signals. At this stage, the motor should respond to motion commands, even if the control isn't yet perfect.
6. Adjust Closed-Loop Parameters
Fine-tuning the control parameters is essential to ensure the motor follows the control card’s instructions accurately. This step requires experience and careful adjustment. While it can’t be fully explained here, it’s crucial for achieving stable and precise operation.
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