Athletic controller measures what signal dominates servo electric machinery to debug measure with imitate

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Athletic controller controls servo electric machinery to use means of two kinds of instructions normally: Digital pulse and imitate signal. This kind of means and pace take digital pulse the control pattern of electric machinery is similar, athletic controller is sent to servo driver " pulse / direction " or " CW/CCW " the pulse command signal of the type; Buy of v/arc be on the throne of servo driver job controls mode, positional closed circuit is finished by servo driver. Day fastens servo and homebred servo product to use this kind of pattern mostly. Its advantage is the system is debugged simple, generate interference not easily, but defect is servo is answered a bit slow. This kind of means issues imitate signal, athletic control system is sent to servo driver + / - the imitate voltage instruction of 10V, receive the positional feedback signal that comes from the positional detecting element such as electric machinery coder or linear grating at the same time; Servo driver job controls mode in speed, positional closed circuit is finished by athletic controller. Euramerican servo product uses pattern of this kind of job mostly. Its advantage is servo is answered fast, but defect is more sensitive to spot interference, debug a bit complex. What athletic controller measures signal to dominate servo electric machinery with imitate is general debug measure: 1, initialization parameter is before wiring, first initialization parameter. On controller: Pick good control way; PID parameter to clear; The acquiesce when letting controller electrify makes can signal is shut; Save this state, ensure controller is this condition namely when electrify again. On servo driver: The setting controls fashion; The setting makes can by exterior control; The gear that coder signal outputs is compared; The scale that sets control signal and electric machinery rotate speed concerns. Generally speaking, the control voltage of the 9V of correspondence of rotate speed of the biggest design in suggesting to make servo works. For instance, the electric machinery rotate speed that the Pr50 of parameter of speed instruction gain of driver of servo of series of the MINASA4 below the pine uses setting 1V to dictate voltage is corresponding (leave factory the value is 500) , if you prepare to let electric machinery be in only 1000 turn to work below, so, this parameter the setting is 111. 2, wiring cuts off the power controller, the line between join controller and servo. Connecting a line below is must: The line of imitate capacity output of controller, make can the line, coder line that servo outputs. Check after wiring does not have a mistake, electric machinery and controller electrify. Right now electric machinery should be not moved, and can turn easily with outside force, if not be such, the examination makes can the setting of signal and wiring. With electric machinery of outside force roll, whether can inspection controller detect correctly the change of electric machinery position, check the wiring of coder signal and setting otherwise. 3, try way to system of a closed-loop control, if the direction of feedback signal is incorrect, sequential affirmation is disastrous. Make through what controller opens servo can signal. Right now servo electric machinery should turn with an inferior speed, this is so called " 0 float " . The metropolis on average controller has restrain 0 inhibition instructions or parameter. Use this instruction or parameter, whether can the rotate speed that sees electric machinery and direction dictate through this (parameter) control. If incontrollable, examination imitate measures wiring and the parameter setting that control fashion. Affirm give out plus, electric machinery is turning, coder computation increases; Give out negative number, electric machinery inverts turn, coder computation is reduced. If electric machinery contains load, the journey is finite, do not use this kind of means. The test has not given big voltage, the proposal is under 1V. If direction is abhorrent, can revise the parameter on controller or electric machinery, make be sent firstly. 4, restrain 0 float in closed-loop control process, the 0 existence that float can have certain effect to dominating the result, had better restrain its. 0 waving parameter are restrained on use controller or servo, adjust carefully, make the rotate speed hasten of electric machinery is bordering on 0. As a result of the 0 random sexes with bleach itself to also have certain, so, need not ask electric machinery rotate speed is absolutely 0. 5, build closed-loop control to make servo through controller again can signal is unlocked, a lesser scale gain is inputted on controller, as to how old calculate lesser, this can by the feeling, if not be at ease really, with respect to the least value that input controller can allow. controller and servo make can signal is opened. At this moment, electric machinery should can have made a motion roughly according to athletic statement. 6, adjust detailed adjusting control of closed circuit parameter to make parameter, ensure electric machinery moves according to the instruction of controller, this is the job that must want to do, and this part works, more it is experience, here can be omitted only. CNC Milling