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the drive itself should be as short as possible since the cable between the two is a
source of noise. When the power supply lines are longer than 50 cm, a
1000µF/100V electrolytic capacitor should be connected between the terminal
"GND" and the terminal "+VDC". This capacitor stabilizes the voltage supplied to
the drive as well as filters noise on the power supply line. Please note that the
polarity can not be reversed.
It is recommended to have multiple drivers to share one power supply to reduce cost
if the supply has enough capacity. To avoid cross interference, DO NOT daisy-chain
the power supply input pins of the drivers. Instead, please connect them to power
supply separately.
5. Tuning the servo
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 DCS810V2 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.
If the motor jumps slightly and the red LED immediately turns on (flickers), then
either the motor or the encoder is wired in reversal. Open the tuning software
ProTuner and check driver status by clicking Err_check. If it's Phase Error, then
reversal motor wires or exchange encoder inputs and try again. If it's Encoder
Error, please check encoder and its wirings, and then try again. If it still doesn't
work after you followed all of the previous steps, please contact us at
tech@leadshine.com.
If the red LED is off and the motor is normal, then you can start to tune the servo
with selected tool. ProTuner, and STU are available for the DCS810V2.
Tel: (86)755-26434369
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Tuning the Servo
A servo system is error-driven. The "Gain" of the system determines how hard the
servo tries to reduce the error. A high-gain system can produce large correcting
torques when the error is very small. A high gain is required if the output is required
to follow the input faithfully with minimal error.
A servo motor and its load both have inertia, which the servo amplifier must
accelerate and decelerate while attempting to follow a change at the input. The
presence of the inertia will tend to result in over-correction, with the system
oscillating beyond either side of its target. It's called UNDER DAMPED status. See
Figure 5-1. This oscillation must be damped, but too much damping will cause the
response to be sluggish, namely cause the system to get into an OVER DAMPED
state. When we tune a servo, we are trying to achieve the fastest response with little
or no overshoot, namely get a CRITICALLY DAMPED response.
As mentioned in previous contents, the DCS810V2 is a digital servo driver and its
input command is PUL/DIR signal. In other words, step response just exists in each
Tel: (86)755-26434369
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Figure 5-1: Step and impulse responses
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