1. Initialization Parameters
Before wiring, it's essential to configure the control card and servo motor properly. On the control card, select the appropriate control mode, clear the PID parameters, and ensure that the enable signal is disabled at startup. Save this configuration so that the system starts in this state every time. On the servo motor side, set the control mode, enable external control, define the encoder signal output ratio, and adjust the relationship between the control signal and motor speed. It's generally recommended to align the maximum design speed with a 9V control voltage. For example, if the factory setting for a Panasonic motor is 500, and you want the motor to operate below 1000 RPM, you can set the parameter to 111.
2. Wiring
Turn off the control card and connect the signal cable between the control card and the servo motor. Ensure the following lines are connected: the analog output line from the control card, the enable signal line, and the encoder signal line from the servo. After double-checking the connections, power up the motor, control card, and PC. At this point, the motor should not move and should be easily rotated manually. If it moves or feels stuck, check the enable signal settings and wiring. Manually rotate the motor to verify that the control card accurately detects position changes; otherwise, recheck the encoder signal wiring and settings.
3. Test Direction
In a closed-loop system, an incorrect feedback direction can lead to serious issues. Enable the servo via the control card and observe the motor’s movement 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 speed and direction can be controlled. A positive input should cause the motor to rotate forward and increase the encoder count, while a negative input should reverse it. Avoid testing under load or with limited stroke. Keep the voltage below 1V during testing. If the direction is wrong, adjust the settings on 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 to fine-tune the motor speed until it approaches zero. Since zero drift has some randomness, it's not necessary for the motor to be completely stationary. Just make sure the movement is minimal and stable.
5. Establish Closed-Loop Control
Once the enable signal is released, apply a small proportional gain through the control card. The exact value depends on experience, but start with a low value to avoid instability. If unsure, use the minimum allowable input. Turn on both the control card and servo enable signals. At this stage, the motor should respond to the motion instructions, even if the response isn't perfect yet.
6. Adjust Closed-Loop Parameters
Fine-tuning the control parameters is crucial to ensure the motor follows the control card's instructions precisely. This process requires experience and may take several iterations. While this step is critical, it's often omitted in basic guides due to its complexity and the need for hands-on adjustment.
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