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step command signal. For each step command signal is a very small movement, so
OVER SHOOT and SETTLING TIME between each step are very small, causing
you hardly can see a step response such as Figure 13, even if the SET POINT is a
very large quantity and the acceleration is very high.
However, if you try to evaluate performances of the digital servo by investigating its
position tracking-error or position following error, you may find it's much easier
than investigating its step response. The easiest way to get a tracking-error or
position following error response is to induce an impulse load on the motor. See
Figure 13 at "time 20".
Leadshine offer a Windows based setup software ProTuner and a Small servo
tuning unit STU (optional) to its customers for evaluating servo performances. STU
is for field tuning without PC.
Tuning servo systems formed by DCS810V2 drivers can be summarized as the
following rules:
1. If servo system is UNSTABLE, then the first thing of tuning is to stabilize
the system. You can increase Derivative Gain of Position Loop (Kd) or
decrease Proportional Gain of Position Loop (Kp) or Integral Gain of
Position Loop (Ki).
2. If servo system is UNDER DAMPED, then increase Kd or decrease Kp or
Ki.
3. If servo system is CRITICALLY DAMPED, then stop tuning and
download the parameter settings to the driver's EEPROM.
4. If servo system is OVER DAMPED, then decrease Kd or increase Kp or
Ki.
Tel: (86)755-26434369
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6. PC window based Tuning Using ProTuner
Introduction
This manual will provide an overview of connection and basic setup instructions for
Leadshine's digital servo driver DCS810V2 using the ProTuner software. The basic
setup of a digital driver is designed to be analogous to the setup and tuning of an
analog amplifier. These instructions will walk you through the following steps
necessary to start up your driver and motor. This document is intended for setting up
the driver with the ProTuner.
Software Installation
The ProTuner is windows based setup software for tuning Leadshine's digital drivers.
It can run in windows systems, including Win95/Win98/WindowsNT/ Windows
2000/Windows XP. And the selected PC should have 1 serial port at least for
communicating with the driver.
Double click "ProTuner_All_Setup_V1.0.exe" to begin installing the ProTuner.
See Figure 6-1. Click Next to enter the "License Agreement" window. See Figure
6-2.
Note: ProTuner_All_Setup_V1.0.exe can be used for all Leadshine digital drives. User can
get it from either Leadshine CD or website. Please get the lasted version from
http://www.leadshine.com.
Tel: (86)755-26434369
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