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About
The user can choose two drop-down menus by clicking "About", including Product
Information and Contact Us.
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Product Information window: Shows some product information about
ProTuner.
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Contact Us window: Shows some contact information about Leadshine.
Figure 6-17: Product information
Figure 6-18: Contact information
Tel: (86)755-26434369
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Website: www.leadshine.com
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Servo Tuning
Position Loop Introduction
Position loop tuning is dependant on the mechanical load, and therefore will change
with any mechanical system changes. Position loop tuning should be performed with
the motor installed in the system. The position loop can be closed around velocity or
torque mode (depending on whether the velocity loop is enabled or disabled). If it is
closed around velocity mode, the position loop algorithm output becomes the new
velocity set point. If it is closed around torque mode, the position loop algorithm
output becomes the new torque set point. There are some important differences in the
tuning process and application of these two approaches:
Position around Velocity: This mode is most common in "contouring" application,
where a position trajectory must be tracked very closely. The velocity loop provides
additional "stiffness", and keeps the dynamic position errors minimal, since the
system now reacts to not just position errors, but also velocity errors (which can be
interpreted as position error changes). It is important to start with a stable yet
responsive velocity loop. Typically, it is sufficient to just use the position loop
proportional gain. Feed-forward gain can be added to improve tracking performance
(i.e. minimize the difference between commanded and actual position). The velocity
loop is disabled in current version DCS810V2, and it adopts Position around
Current (Torque) mode.
Position around Torque: This mode is most common in point-to-point applications,
where actual motion between start and end point is not very critical. In this case,
velocity loop tuning can be avoided. This can be advantageous if the velocity
feedback is poor (e.g. low resolution encoder, poor encoder quadrature.). In this
case, the tuning process requires that the position loop proportional and
derivative gain are increased simultaneously, unless the system has sufficient
friction, in which case no derivative gain is necessary. Once a stable response is
Tel: (86)755-26434369
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Website: www.leadshine.com
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