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In P_parameter tab, the user can set Position Loop PID parameters, Electronic
Gear Ratio, Position Following Error Limit, etc.
Kp: Position Proportional Gain. Proportional Gain determines the response of the
system to position errors. Low Proportional Gain provides a stable system (doesn't
oscillate), has low stiffness, and large position errors under load. Too large
Proportional Gain values will cause oscillations and unstable systems.
Kaff: Position Acceleration feed-forward gain. It is used to adjust the position
following error during acceleration and deceleration.
Kd: Position Derivative Gain. Derivative Gain provides damping by adjusting the
output value as a function of the rate of change of error. A low value provides very
little damping, which may cause overshoot after a step change in position. Large
values have slower step response but may allow higher Proportional Gain to be used
without oscillation.
Vp: Velocity Proportional Gain. It is similar as Kd but for velocity loop.
Vi: Velocity Integral Gain. It is used to adjust the steady velocity error when the
velocity is stable.
CAM_numerator: Numerator of Electronic Gear. Can be set from 1 to 255.
CAM_denominator: Denominator of Electronic Gear. Can be set from 1 to 255.
Position FollowErrLimit: Position Following Error Limit. The limit of the
difference between commanded position and the actual measured position. When
position following error reaches Position Following Error Limit parameter setting in
the driver, the protection will be activated.
Encoder Lines: Encoder Line Count. The DCS810V2 supports single-ended and
differential-ended incremental encoders. Here, one thing should explained is that the
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Encoder Lines parameter in this tab is just for self-test motion controller during
tuning, and will not affect the driver to interpret the encoder feedback signal. With
regard to the DCS810V2, feedback resolution is ×4 encoder line count.
edge: Active Edge. The user can set the triggered edge of pulse command signal in
this panel. Up means up-rise edge and Down means falling edge. When the driver
works in CW/CCW mode, no matter what level is at fixed level terminal, the driver
can works properly.
reverse: Reverse Direction : Change the default direction to the same input level in
DIR. For example, the motor run CW at default setting and will run CCW if reverse
is selected.
Start/Stop button: The user can start or stop self-test by clicking this button.
In T_Speed_Par tab, the user can set velocity profile for self motion test and tuning,
including Maximum Speed, Acceleration, position move Distance of trapezoidal
Tel: (86)755-26434369
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Figure 6-13: T_Speed_Par tab
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