ProTuner 1.0.1.810
Contents
1. for the ProTuner Rev1 0 User s Manual for the ProTuner Rev1 0 Position Tuning Position Tuning rimin P mA Y 1335 nmin P 416 p 7 46 V_ top rpm 1000 Accel r s s 11500 Length p 40000 Interval ms 50 Repeat_times iq Stat T_Speed_Par Figure 20 Self test motion settings for the tuning Kp 1000 CAM_numerator f Encoder lines 4000 Ki fo CAM_denominator f Ka 500 Position FollowE Limit 4000 stat P_parameter T_Speed_Par Position Tuning Figure 22 Position following error curve and velocity curve Kp 1000 Ki 0 and Kd 500 rimin P 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 be damped Figure 23 shows the result after increasing Kd to 1500 In the Figure 23 the oscillation is much smaller than that of Figure 22 You can get even smaller oscillation when increasing Kd to 3500 See Figure 24 7 it wA Mv per TraceTime 12s z Position Tuning mA 1054 nmin P 249 p 7 46 T_Speed_Par CurveSetting Figure 21 Digital Scope settings for the tuning As mentioned above the DC810 adopts position around current torque mode and when tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains Here we set Kp 1000 ho Le ee Ki 0 K2. s Manual for the ProTuner Rev1 0 ProTuner Setup Ready to Install You are now ready to install ProTuner 1 0 1 810 The installer now has enough information to install ProT uner on your computer The following settings will be used Install folder E Program Files ProT uner Shortcut folder ProTuner Please click Next to proceed with the installation ProTuner Setup Installing ProT uner Please wait Installing Files E Program Files ProT unerS upport MSCOMCTL OCX Cancel Figure 7 Installing the ProTuner User s Manual for the ProTuner Rev 1 0 ProTuner Setup Installation Successful The ProT uner 1 0 1 810 installation is complete Thank you for choosing ProT uner Please click Finish to exit this installer f f f lee He Wl ag Finish Figure 8 Finish installation 3 Connections and Testing Connect the servo system according to User s Manual for the DCS810 and connect the PC to the driver as the following figure RS232 Interface Connection PC with ProTuner DCS810 EZ Tuner Text Monitor Digital Servo Driver STU Small Servo Tuning Unit Special Cable Figure 9 RS232 interface connection 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 DCS810 has default User s Manual for the ProTuner Rev 1 0 parameters stored in the driver If the
3. 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 If the red LED is off and the motor is normal then you can start to tune the servo with ProTuner However we recommend you see the following contents before starting tuning User s Manual for the ProTuner Rev1 0 4 Software Introduction ProTuner Main Window W Profuner v1 0 1 810 Option Tuning Digital_monitor Err_check About Leading Technology Shining Value LEADSHINE Status Bar J www leadshine com Status C Leadshine Technology Co Ltd Date 7 31 2008 Time 4 23 PM Figure 10 ProTuner gt Option The user can choose three drop down menus by clicking Option including Com Config SaveToDriver and Exit Com Config Configure Com communication interface SaveToDriver Download the current parameter settings to the driver Exit Exit the ProTuner User s Manual for the ProTuner Rev1 0 Com Config Window Com Config Choose Ser
4. the commanded position i ref Current Command This is the commanded current v_ref Velocity Command This is the commanded velocity p_ref Position Command This is the commanded position Trace Time Trace Time This is the trace time of the digital scope Start Stop button The user can start or stop self test by clicking this button 12 User s Manual for the ProTuner Rev 1 0 gt Digital monitor Digital Monitor Displays curves and dynamic values of different point of different curves Digital Monitor 1 170 r min P 0 pluse 1 974 Figure 15 Digital scope window I Current Displays dynamic values for Current related curve s Dynamic value will change with mouse focus changes Its unit is mA V Velocity Displays dynamic values for Velocity related curve s Dynamic value will change with mouse focus changes Its unit is r min P Position Displays dynamic values for Position related curve s Dynamic value will change with mouse focus changes Its unit is pulse count T Time Displays dynamic values for Time Dynamic value will change with mouse focus changes Its unit is ms User s Manual for the ProTuner Rev1 0 gt Err check Error Check This window shows both the present status of each error event and their history Current error event s can be reset by clicking Erase Current Err button and all error events can be reset by clicking Erase All button OverVo
5. AM_denominator f Kd 14000 Position FollowE rrLimit imit 40 4000 P_parameter Kp 3000 CAM_numerator 1 Encoder lines 4000 Ki 600 CAM_denominator f Kd 4000 Position FollowE rrLimit 4000 Stat Piparameter T_Speed_Par Figure 30 Position following error curve and velocity curve Kp 3000 Ki 600 and Kd 4000 25 User s Manual for the ProTuner Rev1 0 Position Tuning mA 1031 nmin P 105 p 7 41 Kp 3000 CA M_numerator 1 Encoder lines 4000 Ki 700 CAM_denominator 1 Kd 4000 Pasition FollowE rLimit 14000 Stat P_parameter T_Speed_Par Figure 31 Position following error curve and velocity curve Kp 3000 Ki 700 and Kd 4000 Increasing Kp a little and reducing Ki to 600 can achieve a faster response with little overshoot namely get a response close to Critically Damped response See Figure 32 Remember to download the parameter settings to the driver s EEPROM when you get satisfying performances Position Tuning mA Y 317 rimin P 32 Kp 13200 CAM_numerator f Encoder lines 4000 Ki 1600 CAM_denominator f1 Kd 4000 Position Follow Limit 4000 Esaa P_parameter Figure 32 Position following error curve and velocity curve Kp 3200 Ki 600 and Kd 4000 26 User s Manual for the ProTuner Rev1 0 Position Tuning mA 1059 r min P 106 p 7T 156 Download successfully Kp 3200 CAM_numerator f Entee Ki e00 CAM_de
6. User s Manual For ProTuner 1 0 1 810 Windows Based Setup Software for Tuning Digital Servo Driver Revision 1 0 2008 All Rights Reserved Attention Please read this manual carefully before tuning the driver Contents Table of Contents KTO O se eee ae E TE ovement nnn ee eee en eee ee ere neem ons l 2 S0ftware Installation vss iassaasesessaeessasdaasasceeeoidcbcadadennedwtalnsiedinndedetaiasdedadantatedsssosdsetadsens l 3 Connections and Testing sssiissiiessrorenimneii orinter trini Enni n E ENE EEn ENON NENEN SEE nN 5 RS232 Interlace Conn ctiOn sicrie rnein EEA ES EAEE ANENE S 5 MS UB a A a E A E 5 A Software Introduction ccc ccccccccccceeceesseeeeesseeeeeeeessnssssseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 7 ProTuner Main Window ccccccccsscccscccccccsceseccccccceeeeeeeesseseeeeeseessesaaaaaaaeeeeeeeeeeeees 7 COCON Vy N aee E E 8 AVOUT aos E A E E E 16 MA LO C00 1 PANPE EEEE T TE E SA E A ETE E ET 16 Position Loop IntroductiOn ccccccccsssccsccceeececeeeeeeeccceceeeeeeeeeeeeeeeeeeeeseeesesaaas 18 Position around Velocity saigesiedhecdecnccntsatenrceceeseunesetonacanehecwnsadasereeeboecsaiertaccs 18 Position around Torge eccrereresr e EAS 18 Position Loop Tuning cece ccccccccceceeceeseccccccceeeeeeeeseeeeseceseseeassaaaaaaaaeeeeeeeeeeees 19 User s Manual for the ProTuner Rev1 0 1 Introduction This manual will provide an overview of connection and basic setup instructions for digi
7. 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 sys tem now reacts to not just position errors but also velocity errors which can be inter preted 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 Feedforward 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 DCS810 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 ve locity 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 tun ing 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 User s Manual for the ProTuner Rev 1 0 response is achieved integral gain can be added to improve stiffness It is best to use a step command with the profiler enabled as a reference signal duri
8. d 500 first and the self test result is shown in Figure 22 Ki fo CAM_denominator 1 8 Kd 1500 Position FollowE rrLimit 4000 stat P_parameter T_Speed_Par Figure 23 Position following error curve and velocity curve Kp 1000 Ki 0 and Kd 1500 20 21 User s Manual for the ProTuner Rev1 0 Position Tuning mA Vv 939 rimin P 149 p T 41 Kp 1000 CAM_numerator fi Encoder lines 4000 Ki fo CAM_denominator f Ka 2500 Position FollowE rrLimit 4000 Stat __P_parameter_ T_Speed Par User s Manual for the ProTuner Rev1 0 Position Tuning mA V 741 r min P 142 p 7 44 CAM_numerator 1 Encoder lines 4000 Ki 100 CAM_denominator f Kd 23500 Position FollowE Limit 4000 Esaa P_parameter Figure 24 Position following error curve and velocity curve Kp 1000 Ki 0 and Kd 3500 Although very smooth velocity curve had been gotten in Figure 24 we can see that the position following error is still too large to accept And this can be mA V 876 al EL I improved by increasing Ki value See Figure 25 However we can see the system response in Figure 25 is already Over Damped namely too much damping has caused the response to be sluggish This can be improved by increasing Kp or reducing Kd See Figure 26 and Figure 27 Here we try to improve the performances by increasing Kp Kp 2000 C4M_numerator 1 Encoder lines 4000 Ki ho o CAM_denom
9. e product information about Pro Tuner Contact Us window Shows some contact information about distributor User s Manual for the ProTuner Rev1 0 5 Servo Tuning Introduction 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 19 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 User s Manual for the ProTuner Rev 1 0 Step and Impulse Responses Under Damped A Critically Damped 4l i J cvecenee Over Damped i Impulse Interference Position Figure 19 Step and impulse responses As mentioned in previous contents the DCS810 is a digital servo driver and its input command is PUL DIR si
10. ee to the terms of this license agreement and click Next to continue installation The user can enter user s information in the following window See Figure 3 After entering the user s information click Next to select installation folder where you would like to install the ProTuner See Figure 4 ProTuner Setup Name VicChen_XP2e Company Leadshine Cancel Figure 3 User s information settings User s Manual for the ProTuner Rev1 0 ProTuner Setup Installation Folder Where would you like ProTuner to be installed The software will be installed in the folder listed below To select a different location either type in a new path or click Change to browse for an existing folder Install ProT uner to E Program Files ProT uner Space required 8 78 MB Space available on selected drive 4 89 GB The shortcut icons will be created in the folder indicated below If you don t want to use the default folder you can either type a new name or select an existing folder from the list Shortcut Folder Prot uner Install shortcuts for current user only Make shortcuts available to all users Figure 5 Shortcut folder setting Set the Shortcut Folder in Figure 5 and continue to install the ProTuner by following Figure 6 and Figure 7 An Installation Successful window will appear if the ProTuner is installed successfully See Figure 8 User
11. gnal In other words step response just exists in each 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 19 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 posi tion following error response is to induce an impulse load on the motor See Figure 19 at time 20 User s Manual for the ProTuner Rev 1 0 f 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
12. ial Port con E Choose Baudrate 38400 Open Figure 11 RS232 communication configuration window Serial Port Select the serial communication port to which the driver is connected The factory default setting is COM1 Baud Rate Select the communication baud rate The factory default setting is 38400 Click Open button to establish a connection with the specified settings When connecting you can choose SaveToDrive to download the current parameter settings to the driver or to upload the stored driver settings into the ProTuner by clicking Tuning gt Position Loop on the menu bar gt Tuning The user can choose one or two drop down menu s by clicking Tuning including CurrentLoop Only exist in special version and PositionLoop PositionLoop There are three tabs in Position Loop Tuning window including P_parameter T Speed Par and CurveSetting tabs User s Manual for the ProTuner Rev 1 0 Position Tuning nmin P Kp 13000 CAM_numerator 11 Encoder lines 14000 Ki 1350 CA4M_denominator 1 Kd 4000 Position FollowErrLimit 14000 O S P_parameter T_Speed_Par Figure 12 P_ parameter tab In P_parameter tab the user can set Position Loop PID parameters Electronic Gear Ratio Position Following Error Limit etc Kp Proportional Gain Proportional Gain determines the response of the system to position errors Low Proportional Gain provides a stable system doesn t osci
13. inator aa Kd 13500 Position Followe rrLirnit 4000 Stat __Puparameter_ T_Speed_Par Figure 26 Position following error curve and velocity curve Kp 2000 Ki 100 and Kd 3500 gt I AB User s Manual for the ProTuner Rev1 0 Position Tuning mA V 900 r min P 110 p TA Kp 3000 CAM_numerator f Encoder lines 4000 Ki 100 CAM_denominator i Kd 3500 Position FollowE Limit 4000 Stat P_parameter T_Speed_Par CurveSetting Figure 27 Position following error curve and velocity curve Kp 3000 Ki 100 and Kd 3500 Increase Kd can reduce velocity overshoot and get a better velocity curve in as shown in Figure 28 Position Tuning mA V 924 r min P 104 p T 41 Kp 3000 C M_numerator 1 Encoder lines 4000 Ki 100 CAM_denominator fi Kd 4000 Position FollowE rrLimit 4000 stat __P_parameter_ uvest Figure 28 Position following error curve and velocity curve Kp 3000 Ki 100 and Kd 4000 Since position following error is still large during constant speed period in Figure 28 we try to increase Ki to improve system s performances Figure 29 Figure 30 24 User s Manual for the ProTuner Rev 1 0 and Figure 31 show the result after increasing Ki From Figure 31 we can see that too much Ki will cause position curve over shoot Position Tuning mA 902 r min P 101 lp Kp 3000 CAM_numerator 11 Encoder lines 4000 Ki 200 C
14. iver the protection will be activated Encoder Lines Encoder Line Count The DCS810 supports single ended and differential ended incremental encoders Here one thing should explained 1s that the 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 DCS810 feedback resolution is x4 encoder line count Start Stop button The user can start or stop self test by clicking this button Position Tuning W top rpm 1000 Accel r s s 1100 Length p 40000 Interval ms 50 Repeat_times 132767 o t Figure 13 T Speed Par tab 10 User s Manual for the ProTuner Rev1 0 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 velocity profile and Interval Repeat Times of self motion test V_top Maximum Speed The maximum speed of trapezoidal velocity profile Its unit is RPM Accel Acceleration The acceleration of trapezoidal velocity profile Its unit is r s s Length Distance The distance required to move Its unit is pulse count Interval The interval between positive rotation and negative movement Repeat_times The repeat times of positive and negative movement Start Stop button The user can start or stop self test by clicking this button Positio
15. llate has low stiffness and large position errors under load Too large Proportional Gain values will cause oscillations and unstable systems Ki Integral Gain Integral Gain helps the control system overcome static position errors caused by friction or loading The integrator increases the output value as a function of the position error summation over time A low or zero value for the Integral Gain may have position errors at rest that depend on the static or frictional loads and the Proportional Gain Increasing the Integral Gain can reduce these errors If the Integral Gain is too large the systems may hunt oscillate at low frequency about the desired position Kd 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 User s Manual for the ProTuner Rev1 0 have slower step response but may allow higher Proportional Gain to be used without oscillation CAM_ numerator Numerator of Electronic Gear Can be set from 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 dr
16. ltage Lowoltage EncoderErr FollowingE rr ErLounter Erase All Figure 16 Error check window OverCurrent Over current Protection Protection will be activated when continuous current exceeds 20A OverVoltage Over voltage Protection When power supply voltage exceeds 85 1 5 VDC protection will be activated LowVoltage Under voltage Protection When power supply voltage is lower than 16 5 1 5 VDC protection will be activated PhaseErr Phase Error Protection Motor power lines wrong amp not connected and encoder feedback signals A B phases wrong connected will activate this protection EncoderErr Encoder Error Protection No encoder feedback signals or wrong encoder feedback signals will activate this protection 14 User s Manual for the ProTuner Rev 1 0 FollowingErr Position Following Error Limit Protection When position follow ing error reaches Position Following Error Limit parameter setting in the driver this protection will be activated ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s by clicking this button Erase All Erase All button The user can clear all error s including error history by clicking this button gt About The user can choose two drop down menus by clicking About including Product Information and Contact Us Product Information window Shows som
17. n Tuning nmin P 7 y Vv p_er TraceTime 2s gt Vv ibak Iv v bak p_bak Vv V p_ref T_Speed_Par Curve Setting Figure 14 CurveSetting tab In CurveSetting tab the user can choose curves displayed in digital scope of Position Loop Tuning window and DigitalMonitor window and set their Trace Time These curves includes Current Following Error i err Velocity 11 User s Manual for the ProTuner Rev1 0 Following Error v_ err Position Following Error p err Current Feedback i bak Velocity Feedback v bak Position Feedback p bak Current Command i ref Velocity Command v_ref Position Command p ref i err Current Following Error The difference between commanded current and the actual measured current v_err Velocity Following Error The difference between commanded velocity and the actual measured velocity p_err Position Following Error The difference between commanded position and the actual measured position i bak Current Feedback This is the actual measured current in motor coil Ideally 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 Ideally this value should be as close as possible to
18. ng tuning Driver tuning is a multi step process that involves proper tuning of up to three different servo loops namely current loop velocity loop and position loop You can either tune the position loop around the velocity loop or around the current loop Generally it is much easier to tune a position loop around a velocity loop because only the proportional gain is needed When tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains For most of the DCS810 drivers have been being sold to the customers with DCM5xxxx DC servo motors will tune the current loop before sending drivers out of the factory just offer a special version ProTuner to some customers for tuning current loop while most of customers just need to tune the position loop parameters with the standard version if they use the drivers with DCM5xxxx DC servo motors If you use the DCS810 with DC servo motors from other manufacturers and current loop tuning is needed Follow the steps below for tuning the driver with the standard version ProTuner Position Loop Tuning Set the parameters and select the curves displayed in Digital Monitor before starting self test and tuning See Figure 20 and Figure 21 for the parameters for the tuning in this paper When we tune a servo we are trying to achieve the fastest response with little or no overshoot namely get a Critically Damped response User s Manual
19. nominator f Kd 4000 Position FollowE rrLimit 4000 stw P_parameter Figure 33 Position following error curve and velocity curve Kp 3000 Ki 700 and Kd 4000 Tuning servo systems formed by DCS810 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 Remember that tuning the servo is to get satisfying performances getting the best performances of the servo is a time consuming work So if the servo performance can meet your application requirements then the easier tuning way the better Just like if the performances of the products can meet your application requirements then the cheaper the better 21
20. tal servo driver DCS810 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 2 Software Installation The ProTuner is windows based setup software for tuning digital servo 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 com municating with the driver Double click ProTuner DCS810 exe to begin installing the ProTuner See Figure 1 Click Next to enter the License Agreement window See Figure 2 Welcome Welcome to the installer for ProT uner 1 0 1 810 It is strongly recommended that you exit all Windows programs before continuing with this installation Y Ifyou have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue j Cancel Figure 1 Begin to install the ProTuner User s Manual for the ProTuner Rev1 0 ProTuner Setup License Agreement Please read the following license agreement carefully Thank you for choosing Leadshine product do not agree to the terms of this license agreement Figure 2 License agreement Choose I agr
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