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Servo Motor Commonly Used Debugging Method
- Oct 13, 2017 -

1, digital pulse

This mode is similar to the control mode of the stepper motor. The motion controller sends a pulse command signal of "pulse / direction" or "" type to the servo driver. The servo driver operates in position control mode and the position closed loop is completed by the servo driver. Japanese servo and domestic servo products are mostly used in this mode. The advantage is that the system debugging is simple, not easy to produce interference, but the disadvantage is the servo system response slower.

2, analog signal

In this way, the motion control system sends an analog voltage command of +/- 10V to the servo drive while receiving the position feedback signal from the position detection element of the motor encoder or linear grating; the servo driver operates in the speed control mode, Motion controller completed. Europe and the United States most of the servo products using this mode of operation. The advantage is that the servo response is fast, but the disadvantage is more sensitive to on-site interference, debugging is slightly more complex.

The following describes the movement controller to analog signal control servo motor general debugging steps:

1) Initialize the parameters

Before wiring, start with the initial parameters. On the controller: select the control mode; clear the PID parameter; let the controller power on when the default enable signal is turned off; this state is saved to ensure that the controller is powered on again when this state. On the servo drive: set the control mode; set to enable the external control; encoder signal output gear ratio; set the control signal and the motor speed ratio.

2) wiring

Disconnect the controller from the signal line between the controller and the servo. The following connections are required: the analog output line of the controller, the all-in signal line, and the encoder output signal line. Review the wiring without error, the motor controller power on. The motor should be fixed, and can be easily rotated with external force, if not the case, check the setting of the signal and wiring with external force to turn the motor, check the controller can correctly detect the motor position changes, otherwise check the encoder signal Wiring and setting.

3) try direction

For a closed-loop control system, if the direction of the feedback signal is not correct, the consequences are certainly disastrous. The servo enable signal is turned on by the controller. At this point the servo motor should be a lower speed of rotation, which is the so-called "zero drift." The general controller will have to inhibit the zero drift of the command parameters. Use this command or parameter to see if the motor speed and direction can be controlled by this command. If you can not control, check the analog connection and control mode parameter settings. If the power is to be loaded with a load, the travel is limited and do not use this method. If the motor is running, the motor is running and the encoder is incremented.

4) Suppress zero drift

In the closed-loop control process, the existence of zero drift will have a certain impact on the control effect, it is best to suppress it. Use the controller or servo to suppress zero drift parameters, carefully adjusted, so that the motor speed approaching zero. As the zero drift itself also has a certain randomness, so do not have to ask the motor speed is absolutely zero.

5) to establish closed-loop control

Again through the controller to release the servo enable signal, the controller input a smaller proportional gain, as much as small, it can only feel, if it is not assured, the input controller can allow is Small value. Turn the controller and servo omnipotent signals open. At this time, the motor should have been able to follow the motion instructions to make a general action.

6) adjust the closed-loop parameters

Fine-tune the control parameters to ensure that the motor moves in accordance with the instructions of the controller, which is the work that must be done

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