How to debug the servo motor correctly

Update:13-01-2021
Summary:

1 initialization parameters Before wiring, initialize t […]

1 initialization parameters

Before wiring, initialize the parameters.
On the control card: select the control method; 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 by the outside; 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 to make the large design speed in servo work correspond to the control voltage of 9V.

2 Wiring
Power off 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 rechecking that there is no error in the wiring, the servo motor and control card (and PC) are powered on. At this time, the motor should not move, and it can be easily rotated by 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 test directions
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 influence on the control effect, which should be suppressed. Use the control card or servo to suppress the zero drift parameters, carefully adjust to make the motor speed approach zero. Since the zero drift itself has a certain degree of randomness, it is not necessary that the motor speed must be 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 large it is, it can only be based on feeling. If you are really not at ease, enter the higher that the control card can allow. Small 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.

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