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Leadshine Technology Co. DCS303 User Manual

Digital brush dc servo driver
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The content in this manual has been carefully prepared and is believed to be accurate,
User's Manual
but no responsibility is assumed for inaccuracies.
For
Leadshine reserves the right to make changes without further notice to any products
DCS303
herein to improve reliability, function or design. Leadshine does not assume any
liability arising out of the application or use of any product or circuit described
herein; neither does it convey any license under its patent rights of others.
Digital Brush DC Servo Driver
Leadshine's general policy does not recommend the use of its products in life
support or aircraft applications wherein a failure or malfunction of the product may
Revision 1.0
©2009 All Rights Reserved
directly threaten life or injury. According to Leadshine's terms and conditions of
Attention: Please read this manual carefully before using the driver!
sales, the user of Leadshine's products in life support or aircraft applications
assumes all risks of such use and indemnifies Leadshine against all damages.
©2009 by Leadshine Technology Company Limited.
All Rights Reserved
3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China
Tel: (86)755-26434369
Fax: (86)755-26402718
URL:
www.leadshine.com
E-Mail:
sales@leadshine.com

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Summary of Contents for Leadshine Technology Co. DCS303

  • Page 1 Leadshine reserves the right to make changes without further notice to any products DCS303 herein to improve reliability, function or design. Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein;...

  • Page 2: Table Of Contents

    Contents Contents Twisted Wires.................... 11 Table of Contents Cable Shielding ..................11 System Grounding..................11 1. Introduction, Features and Applications..............1 Power Supply Connection................. 12 Introduction ......................1 5. Tuning the servo....................12 Features ........................ 1 Testing the servo....................12 Applications ......................

  • Page 3: Introduction, Features And Applications

    DCS303 are better than those of digital AC servo systems in velocity, precision, stability, or at least as good as those of digital AC servo systems. However, the cost of the DCS303 stays at the price line of stepping driver, namely far lower than those of AC servo drivers.

  • Page 4: Applications

    It is recommended to mount the driver vertically to maximize heat sink area. Opto-isolated inputs, support single-ended signals Electrical Specifications (T = 25℃/77℉) 10 latest errors self-record function Over-current, over-voltage, phase error, encoder error, position following error DCS303 protections Parameters Min. Typical Max.

  • Page 5: Connections

    EGND Ground of the auxiliary power supply. Control Signal Connections Power Connector The DCS303 has 3 optically isolated logic inputs to accept control signals. These Signal Description inputs are isolated to minimize or eliminate electrical noises coupled onto the Motor+ Motor positive connection.

  • Page 6: Encoder Connections

    Figure 3-1: Connections to open-collector control signal (common-anode) Encoder Connections If the encoder drains less than 50mA, the DCS303 can supply the encoder directly, Figure 3-4: RS232 interface connection and connect it as Figure 3-2. If the encoder drains more than 50mA, use an external Typical Connections DC supply and connect it as Figure 3-3.

  • Page 7: Servo Setup

    For example, two 3A motors can be well supplied by one power supply of 4A rating. Selecting Supply Voltage Figure 3-6: Typical connection (Differential control signal) The DCS303 can actually operate within +18V to +30VDC, including power input Tel: (86)755-26434369 Website: www.leadshine.com Tel: (86)755-26434369...

  • Page 8: Prepare Controller

    Prepare Controller Twisted wires effectively increasing noise immunity. The successive twists eliminate Prepare a controller with pulse and direction signals. However, the DCS303 has a noise transients along the length of the cable. Both signal cables and power cables built-in motion controller for self-test and Servo Tuning. The built-in motion should be of the twisted and shielded type.

  • Page 9: Power Supply Connection

    If the red LED is off and the motor is normal, then you can start to tune the servo the DCS303 driver. The distance between the DC power supply of the drive and the with selected tool. ProTuner and STU are available for the DCS303.

  • Page 10: Pc Window Based Tuning Using Protuner

    Figure 5-1: Step and impulse responses Introduction As mentioned in previous contents, the DCS303 is a digital servo driver and its input command is PUL/DIR signal. In other words, step response just exists in each step This manual will provide an overview of connection and basic setup instructions for command signal.
  • Page 11 Figure 6-3. After entering the user’s information, click Next to select installation Note: ProTuner_All_Setup_V1.0.exe can be used for all Leadshine digital drives. User can folder, where you would like to install the ProTuner. See Figure 6-4. get it from either Leadshine CD or website. Please get the latest version from http://www.leadshine.com.

  • Page 12: Rs232 Interface Connection

    Figure 6-5: Shortcut folder setting Figure 6-7: Installing the ProTuner Set the “Shortcut Folder” in Figure 6-5 and continue to install the ProTuner by following Figure 6-6 and Figure 6-7. An Installation Successful window will appear if the ProTuner is installed successfully. See Figure 6-8. Figure 6-8: Finish installation Note: Leadshine also offers special version ProTuner which does not need installation.

  • Page 13: Testing The Servo

    You may wish to secure the motor so it can’t jump off the bench. Turn on the power supply, the green (Power) LED will light. The DCS303 has default parameters stored in the driver. If the system has no hardware and wirings problem, the motor should be locked and the driver should be ready.

  • Page 14: Com Config Window

    Com Config Window Figure 6-11: RS232 communication configuration window Figure 6-12: P_parameter tab Serial Port: Select the serial communication port to which the driver is connected. In P_parameter tab, the user can set Position Loop PID parameters, Electronic The factory default setting is COM1. Gear Ratio, Position Following Error Limit, etc.
  • Page 15 With In T_Speed_Par tab, the user can set velocity profile for self motion test and tuning, regard to the DCS303, feedback resolution is ×4 encoder line count. including Maximum Speed, Acceleration, position move Distance of trapezoidal ActiveEdge: Active Edge.
  • Page 16 this value should be as close as possible to the commanded current. v_bak: Velocity Feedback. This is the actual measured velocity measured by the encoder. Ideally, this value should be as close as possible to the commanded velocity. p_bak: Position Feedback. This is the actual measured position measured by the encoder.
  • Page 17 ±1.5 VDC, protection will be activated. I: Current. Displays dynamic values for Current related curve(s). Dynamic value will change with mouse focus changes. Its unit is mA. PhaseErr: Phase Error Protection. Motor power lines wrong & not connected and V: Velocity. Displays dynamic values for Velocity related curve(s). Dynamic value encoder feedback signals A/B phases wrong connected will activate this protection.

  • Page 18: Servo Tuning

    If it is closed around torque mode, the position loop algorithm For most of the DCS303 drivers have been being sold to the customers with output becomes the new torque set point. There are some important differences in the Tel: (86)755-26434369 Website: www.leadshine.com...

  • Page 19: Position Loop Tuning

    Leadshine’s DCM5xxxx DC servo motors. If you use the DCS303 with DC servo motors from other manufacturers and current loop tuning is needed.
  • Page 20 Although very smooth velocity curve had been gotten in Figure 6-23, we can see It’s very easy to see from the velocity curve (Green line) that the system is under damped. This will cause system oscillating beyond either side of its target, so it must that the position following error is still too large to accept.
  • Page 21 see that too much Ki will cause position curve over shoot. Figure 6-26: Position following error curve and velocity curve (Kp=3000, Ki=50 and Kd=1500) Increase Kd can reduce velocity overshoot, and get a better velocity curve in as shown in Figure 6-27. Figure 6-28: Position following error curve and velocity curve (Kp=3000, Ki=100 and Kd=2000) Figure 6-27: Position following error curve and velocity curve (Kp=3000, Ki=50 and Kd=2000) Figure 6-29: Position following error curve and velocity curve (Kp=3000, Ki=150 and Kd=2000)
  • Page 22 Increasing Kp a little and reducing Ki to 150 can achieve a faster response with little Tuning servo systems formed by DCS303 drivers can be summarized as the overshoot, namely get a response close to Critically Damped response. See Figure following rules: 6-31.

  • Page 23: Using Tips

    Attention: Since there is no protection against power leads (﹢,﹣) reversal, it is The DCS303 uses one RED LED to indicate what protection has been activated. The critical to make sure that power supply leads correctly connected to driver. periodic time of RED is 5 s (seconds), and how many times the RED turns on Otherwise, the driver will be damaged instantly.

  • Page 24: Over-Current Protection

    The DCS303 will turn the motor in the CW direction when the direction input is for the product. “high” (logical “1”). If instead CCW is preferred, then: OBTAINING WARRANTY SERVICE 1) Reverse the “motor +”...

  • Page 25: Shipping Failed Product

    SHIPPING FAILED PRODUCT Contact Us If your product should fail during the warranty period, e-mail customer service at tech@leadshine.com to obtain a returned material authorization number (RMA) China Headquarters before returning product for service. Please include a written description of the Address: 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China problem along with contact name and address.

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