ASDD 30A or A ASD 15A servo drive from China and MIGE servo motor 130ST-M10010 and STM32.
This project uses the ASDD 30A drive.
The servo unit and motor model adaptation, 220V drive model and motor model adapter form:
130ST-M1001021100010
The adaptation of the servo unit and motor model, the adaptation table of the 220V drive model and motor model is as follows:
130ST_M10010 21 1000
Motors and drivers are connected
1 Set the servo drive. Do not connect the MST32 to CN2.
First set the servo drive to
220V drive model and motor model
I am using the MIGE motor 130ST-M10010 to be set to 21
After connecting the STM32 cable, do not connect the servo drive. First set the servo drive.
After setting the MIGE motor 130ST-M10010 to 21 on PN001,
Turn off the power switch or unplug the power supply
If there is no automatic saving, please save the fn001 manually
After the drive is restarted
PN02 is set to 0 torque mode)
PN03 is set to 0 outside) enabled)
PN53 is set to 58 (PN53 represents SIGLN2 port function, 18 is "instruction reversal" function
Number value range name
PN190 -1500~1500MV set to 0 analog torque command offset adjustment PN191 0-1 I set it to 0
The simulated torque command direction PN188 1 ~ 500ms I also set it to 1
Analog torque instructions
The most important thing here is to set the speed limit PN198.
Motor ultimate speed PN198 0 ~ 4500 default value 2500 set torque control function
The extreme speed 120 is 120. After connecting the encoder and the motor, the drive is enabled inside. At this time, the motor rotates.
The positive negative offset is adjusted according to the direction of rotation of the motor.
At this point, the drive is first closed.
2. MST32 of MMOS is connected to the CN2 control terminal of the drive and then start the drive again.
Open the decompressed MMOS and set the encoder to 1000.
Observe the direction of rotation of the motor and adjust the command offset again. In this step, it is preferable to enable it outside to prevent random rotation of the motor due to the wrong wiring.
PN191: When receiving a positive and negative command signal, adjust the direction of rotation of the motor.
"0: Positive forward (CCW), negative reverse (CW)
"1: Positive forward (CCW), forward reverse (CW)
Usually connected encoder A + is connected to the PA0 encoder B + connected to PA12. If the direction of the rotation of the disk in the game does not match the rotation direction of the disk, the normal wiring can be adjusted. At the same time, adjust the PN191 setting. The reverse encoder cannot be set on the MMOS, which can be set in the game. But this will be pushed in a direction.
PN188: Adjust high frequency noise
The larger the set value, the slower the input analog response, which is conducive to reducing high frequency noise interference. The smaller the setting, the faster the response speed, but the interference noise will become large.
The bigger the value, the faster the speed. It is more suitable for the set 120 ~ 150 speed. Otherwise, when the vehicle controls the game, the speed of the motor can accelerate within 0.1 seconds and the motor will fly to the ground.
Video demo.
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Copyright Notice: Circuit City Original compilation, translation from HackADAY, please indicate the source!
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