Software User Manual
Contents
1. Current Open loop Current X Close loop Current 8 4nti interference Time Timefme cae Continued on next page 14 26 e Leadshine Position Loop Tab Item Position Loop Kp Proportional Gain Position Loop Ki Integral Gain Position Loop Kd Derivative Gain Position Loop Kvff Holding Current Open loop Current Close loop Current Leadshinie Protuner for iSS Software User Manual Continued Description 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 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 Position Derivative Gain Derivative Gain provides damping by adjusting the output value as a function of the rate of change of error A low value2. Download parameters to the drive s nonvolatile memory Click Download to Drive button to write parameter values in the current window to the iSS stepper servo motor Read 6 2 3 Download to Drive for detail Reset Restore factory settings of the drive Click Reset button to reset all parameters to factory default Read 6 2 4 Reset for detail 23 20 Error Check You can check the active error or the error log of the drive in this window Type of error is shown as follows Item Description Error occurs when the motor coil current exceeds Over Current Error ee the drive s current limit Error occurs when the input voltage exceeds the Over Voltage Error i oo 8 drive s voltage limit Error occurs when the actual position following Position Following Error error exceeds the limit which is set in Position Error Limit Current Error History Error No Error Type Advice Position Following Error Repower the drive A Check Error Ro Clear Error 24 26 A Leadshine Leadshinie Protuner for iSS Software User Manual Part3 Configuration Tips Suggested steps to configure a iSS stepper servo motor Usually you can follow the fllowing steps below to configure tune the drive board of an iSS motor from Protuner for iSS software 1 Set Input Output parameters such as pulse mode pulse bandwidth pulse active edge active level of fault output position following limit and micro step re
3. Motion Test Stop the move immediately Close the Current Position Loops window Range 1 50 rps 1 65535 r s 2 1 65535 r 1 65535 ms I 65535 Positive Reversal 100 3000 ms 11 26 Current Loop Tab Click Current Loop tab to open this window The current loop parameter is related to the motor resistance and inductance When power up the drive board will perform the auto configuration and the current loop parameters will be calculated automatically Here this window is just for check It is unnecessary to the current loop parameters by your self Current Position Loops Current m4 Motion Test Current Loop Position Loop Scope Current Loop Kp 1117 Current Loop Ki 429 Test Value a H Start Time mns uae Continued on next page 12 26 e Leadshine Current Loop Tab Item Current Loop Kp Proportional Gain Current Loop Ki Integral Gain Test Value A Start Leadshinie Protuner for iSS Software User Manual Continued Description Increase Kp to make current rise fast Proportional Gain determines the response of the drive to current setting command Low Proportional Gain provides a stable system doesn t oscillate has low stiffness and large current error causing poor performances in tracking current setting command in each step Too large Proportional Gain values will cause oscillations and unstable systems Adju
4. Step makes the motor move smoother but requires higher motion controller frequency The default value of Position Error Limit is set it to 1000 If the application requires small position following error reduce the Position Error Limit The Encoder Resolution indicates the resolution in lines of the integrated encoder It is for informational and you 21 26 Tools Parameters Click Tools gt Parameters to open the Parameters window This window lets a user read current settings from the iSS motor drive board load parameter values to the RAM of the iSS motor drive board open a previously saved configuration file save the current configuration to a file reset motor configuration or download those settings to the iSS stepper servo motor Although a user can change parameter values from this window it is recommended to use menu items in Drive Settings or Motor Settings for configuration tuning unless the user is sure what parameter value to set Parameters Parameter Raas vame Remm Double click the cell in Value Current Loop Kp O 65535 1117 Current Loop Ki O 65535 424 Load Te Drier Micro Step Resolution app Nf ee Encoder Resolution 010000 4000 Position Following Limit O 65535 1000 Position Loop Kp 0 32767 2000 Save As Position Loop ki 0 32787 600 Position Loop Kd 0 32767 100 Download to Drive Position Loop Kyff 0 32787 30 Holding Current 91 Oo 100 30 Open loop Current 07
5. 100 50 Close loop Current 8 Oo 100 Anti interference Time O 1000 Pulse Width on 0 200KHz 1 500KHz Free the motor after di 071 O Free Motor Shaft 1 Lo Open File Active In Position Sign O71 O Active Low Impedance After disabling drive pi Q Active High l ctivwe Low Active Alarm Signal Level O71 Q Active High 1l Active Low Pulse Input Mode 0 O PUL DIR 1 CW CCW Continued 22 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Parameters continued Functions for left side buttons are described as follows 1 2 3 4 5 6 Read Drive Read parameters from the drive Click Read drive button to upload all parameters from drive Double click the value of the parameter you can change the value Load to Drive Load parameters to drive Click Load to Drive button to load parameter values in the current window to the iSS stepper servo motor RAM for configuration tuning Open File open a previously saved configuration file Click Open File button to open a previously saved configuration file to the Parameters window you want to load parameters from a PC file The parameters in the software s workspace will be updated Save File Save the parameters to a PC configuration file with lsr extension Click Save File button to save the parameter of current workspace to a file This file can be used for the other drive Download to Drive
6. Software User Manual ISS Integrated Stepper Servo Motors R W S di i Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2012 by Leadshine Technology All Rights Reserved Change Log Revision Date Changes Version 2012 05 18 Original Create SM ISS 1 0 2012 05 24 Modification N A e Leadshine Leadshinie Protuner for iSS Software User Manual Table of Contents Pati T acs Tar nE E EEE EET EEA 1 SDE eae l a heer E E E E E E E E eee ee eee eee l POW AEG o e E E l Connecting an iSS Stepper Servo Motor to a DC Power Supply sese l Connecting an iSS Stepper Servo Motor to a Computer sse l Sotware Mms TA HALON sssrinin na ERE E a EE EEEa E E EO EEE NAE ENE E EEEE EEE EESE l Sa L OO E E AEN E E E 2 WOR eT 2 Monis ad R ee sac th eco EE E cn
7. efault settings Click No to cancel reset h The drive will be reset and all the data will be cleared Are you sure to i me continue 19 26 Motor Settings Click Drive gt Motor Settings to open this window You can set the micro step resolution position following error limit and encoder resolution in this window Botor Settings Micro Step Resolution 4000 Pozition Error Limit 1000 Encoder Resolution 4000 UR Cancel Item Micro Step Resolution Position Error Limit Encoder Resolution Continued on next page Description Drive s Micro Step setting for the motor The limit of the difference between commanded position and the actual measured position When position following error exceeds the Position Following Error Limit in the drive the following error protection will be activated The encoder lines 4 x of the actual resolution For example if the encoder resolution is 1000 it is 4000 Note Do not change the default value as it must be corresponded to the actual encoder resolution Range 1 51200 0 65535 200 10000 20 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Motor Settings Continued In order to be able change micro step resolution DIP switch 1 2 and 3 of an iSS stepper servo motor must be all set to ON positions Resolution can be set to any value of 200 51200 increased to by 200 Higher resolution Micro
8. ents To be able to install Leadshine ProTuner for iSS Setpper Servo Motor software a computer should have a Windows XP 7 operation system installed and at least 512 MB memory Hardware Setup Connecting an iSS Stepper Servo Motor to a DC Power Supply First connect a DC power supply 20 50 VDC to the power connectors of the iSS stepper servo motor See Leadshine iSS Integrated Stepper Servo Motors Hardware Installation Manual for detail If you don t have such a power supply go to Leadshine website at http leadshine com Product_Show aspx ID 142 to find one compatible DC regulated switching unregulated switching or linear power supply Connecting an 155 Stepper Servo Motor to a Computer To connect a Leadshine iSS series stepper servo motor to a computer use a Leadhsine special RS232 cable model Cable Pc i to the serial port of your computer If your computer does not have a serial port Use one USB RS232 converting cable Software Installation The compressed zip file of Leadshine ProTuner for iSS stepper servo motors can be downloaded at http www leadshine com UploadFile Down ProTunerV1 0 iSS Setup zip After the zip file is downloaded 1 26 successfully unzip it to a local fold on your computer From that folder run the executable exe file and follow the on screen instructions to get the software installed Software Layout Workspace See the following screen shot for the layout of Leadshine 1SS software i
9. ile or restore them from a file 3 26 Check Errors Ay Check drive current historical error s Display ProTuner software version and Help gt About ProTuner drive board firmware version 4 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Part2 Using Software Project Menu Connect to Drive Connect to Drive window appears every time when ProTuner for iSS software is started A connection between an iSS57 step motor and a computer can be opened by selecting the right connection serial port and clicking Open button That could take a few seconds because the software will load current drive board settings to the computer memory from the connected iSS stepper servo motor After connection is opened successfully the caption of the button will be changed to Close The connection can be closed by clicking Close button Connect to Drive Connect to Drive Setting Setting Com Fort comi 9 Com Port com P Pand Kare 32400 l Baud Rate 38400 t l Device Address n lt l Device Address 0 z ep ee Before connecting the drive make sure 1 The RS232 cable has connected the drive and PC serial port securely 2 The iSS stepper servo motor has been powered on and the green LED is turned on Do not connect or disconnect serial cable while drive is powered on Otherwise the drive s communication circuit could be damaged 5 26 Exit Exit windo
10. is required based on your actual applications Higher holding current results higher high speed torque To keep the motor heating extreme low iSS motor default holding current percentage is set to 20 40 of the maximum output current If you can t get enough torque for in an application try to increase that percentage Please note that higher holding current percentage will result in higher motor heating Try to find a balanced holding current percentage value 25 26 Contact Us Leadshine Technollogy Ltd Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Tel 0086 755 2641 7674 for Asia Australia Africa areas 0086 755 2640 9254 for Europe areas 0086 755 2641 7617 for Europe areas Fax 0086 755 2640 2718 Email sales leadshine com Technical Support Tel 0086 755 2641 8447 0086 755 2641 8774 0086 755 2641 0546 Fax 0086 755 2640 2718 Email tech leadshine com Leadshine America Inc North America Office Address Leadshine America Inc 25 Mauchly Suite 318 Irvine CA 92618 U S A Telelphone 1 949 608 7270 Sales amp Technical Support Fax 1 949 608 7298 Web http www leadshineUSA com Email sales leadshineUSA com Technical Support support leadshineUSA com 26 26
11. n monitor the position following error in the left scope window When you use this feature from ProTuner for iSS software you may not be able to see anything without motor load However when an iSS motor runs in a real application Scope window can help to monitor the performance of Position Following Error Current Position Loops Motion Test Current Loop Position Loop Scope Trace Time 1000 me 400 500 600 700 800 Time ms Item Description Range Time to sample the position following error For Trace Time example if the trace time is 1000ms the drive board 0 32767 acquires the error data every 1000ms Start Start to monitor and display the position following error Stop Stop monitoring 17 26 Download to Drive To permanently save those configured tuned parameter values to the iSS stepper servo motor you must perform Download to Drive action Otherwise all changes will get lost after the iSS motor is powered off Click Drive Setting gt Download to Drive menu item bring up the following warning message Click Yes button to save all parameters to the drive board s non volatile memory Click Cancel button to cancel all your changes l to Dem 18 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Reset A user can click Drive Settings gt Reset menu item to bring up the following warning message Click Yes will to reset all the settings back to d
12. ng current Set the active output impedance of the in position signal If it is active low the impedance between PED and PED is low when the target position is reached Otherwise if it is active high the impedance between PED and PED is high when the target position is reached Pulse mode of control signal Select PUL DIR or CW CCW according to command type of motion controller PUL DIR means pulse and direction mode CW CCW means double pulses mode Set the active output impedance of the fault signal If it is active low the impedance between ALM and ALM is low when the target position is reached Otherwise if it is active high the impedance between ALM and ALM is high when the target position is reached Set active input level of disable signal Select the input pulse bandwidth or the maximum input frequency Range Free motor shaft Lock motor shaft Active Low Active High PUL DIR or CW CCW Active Low Active High Active Low Active High 200K 500K 8 26 e Leadshine Current Position Loops Leadshinie Protuner for iSS Software User Manual Click Drive gt Current Position Loops to open this window You can adjust the current loop Kp proportional gain and Ki integral gain in this window To test the iSS motor performance for parameter performance change click the Start button to run the motor Current Poszition Loops Position Following Error curve is dis
13. nterfaxe Input s Outputs After Disabling Drive Free Motor Shaft Lock Motor Shaft Fault Output X Active Low Active High In position Signal Level Active Low Impedance Active High Impedance Disabling X Active Low Active High Pulse Mode PUL DIF cwy ccy Pulse Bandwidth C 200 KHz 500 KHz lt Work Space 2 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Menus and Toolbar Menus and toolbars are at the top of the workspace You can click menu bar to view pull down menu The toolbar below offers the most frequency commands Menu Projects gt Drive Settings gt Motor Settings gt Tools gt Pull Down Toolbar Connect to Drive i Exit Current Position Loops Inputs Outputs iy Download to Drive Reset Motor Settings Parameters P Function Open a computer s serial port and connect to an 155 stepper servo motor Exit from ProTuner Tune the current loop adjust the position loop parameter and perform Motion Test Cofigure input command type active level of the 1 0 signals pulse bandwidth Download settings to the drive board s NVM No volatile Memory of an iSS stepper servo motor Reset all configurations to default Set micro step resolution position error limit and encoder resolution Download upload configurations to from iSS motor s drive board It can also save configurations to a f
14. played during motion test Now Test Current Loop Position Loop Scope you can see the error is between 6 fity r s i 0 Accelerate r s s 200 200 300 400 500 600 700 Timefms TST ce r 1 0 Intermission ms fioo Repeat 10 Trace Time ms 1000 lt Run Direction Run Model L Positive C Unidirectional Round Trip 800 300 9 26 Motion Test Tab In the Motion Test tab you can make the motor move without an external pulse generator or motion controller Configure the trapezoid velocity file first and then click the Start button Velicitylr i U Accelerate r s z 200 Distance r T U Trt armi ssi 0 LS 100 Repeat 10 Trace Time ms 1000 Eun Direction Fun Model C Positive C Unidirectional Reversal Round Trip Start Close 10 26 e Leadshine Motion Test Tab Item Velocity r s Accelerate r r s Distance r Intermission ms Repeat Run Direction Run Model Trace Time Start Stop Close Leadshinie Protuner for iSS Software User Manual Continued Description Target velocity of Motion Test Acceleration of Motion Test Move distance of Motion Test Interval between moves Repeat times Move direction Motion Test mode includes single direction motion or two direction Motion Undirectional Run in one direction Round Trip Run forward and back The time to sample the position following error data Click to start the
15. 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 Feed forward gain It speeds up the system response Motor current when there is no pulse applied to the drive Motor current when the drive goes into open loop control mode Motor current when the drive goes into close loop control mode Range 0 32767 0 32767 U 32767 U 32767 0 100 0 100 0 100 15 26 Position Loop Tab Continued The effect of Kp Kd Ki and Kvff of position loop has similar functions as those parameters in normal brushless servo drives Although their adjustable values are displayed as 0 32767 their actual adjustable ranges are limited It is recommended to only adjust 10 30 from their default settings Beyond the range you may see an iSS57 runs abnormal such as vibration or stall Position loop Fine Tuning Tips Use the following table as guidance for position loop fine tuning Desired Results Actions Faster Response High Speed High Torque Increase the Kp Kd Kvff Open Loop Current and Close loop Current Smooth Move Lower Motor Noise Lower Motor Heating Decrease Kp Kd Kvff Open Loop Current and Close loop Current 16 26 A Leadshine Leadshinie Protuner for iSS Software User Manual Scope Tab Click Scope tab to open this window shown in the next image You ca
16. solution for your application 2 Set Motor Setting 3 Adjust the position loop parameters when lower noise or fast speed is required Configure Current Output When an iSS stepper servo motor runs the output current from the drive board outputted to the motor ranges between the holding current and the close loop current When there is no pulse sent to the drive it goes into idle mode and the actual output current is determined by the holding current percentage similar to idle current of open loop stepper drives In normal working mode the iSS motor s drive board monitors the actual shaft position all the time The current outputted to the motor changes dynamically based on the tracking error between the actual position and the commanded position By default an iSS57 motor s holding current percentage is set to certain percentage of the peak current and the close loop current percentage is 100 unless you change them from Leadshine s configuration software see software manual Actual current outputted to the motor can be calculated as follows Holding Current 6A xHolding Current Percentage MAX Close loop Current 6A xClose Loop Current Percentage Low holding current can reduce motor heating however also reduces the holding torque which is used to lock the motor shaft at standstill It is recommended to determine the holding current by whether or not there is big vibration at start up and how much lock torque
17. st Ki to reduce the steady error Integral Gain helps the drive to overcome static current errors A low or zero value for the Integral Gain may have current errors at rest Increasing the Integral Gain can reduce the error If the Integral Gain is too large the systems may hunt oscillate about the desired position The current amplitude for the step response Let this value not exceed the maximum output current of the drive Enter Kp and Ki and click this button to activate the test A target curve red will be displayed on the screen for user analysis Range 1 65535 1 65535 0 5 2A 13 26 Position Loop Tab Click Position Loop tab to open this window You can adjust the position loop parameter to get lower noise or fast response of the motor Double click the value to change the parameters This tab only allows you to change parameter values For testing the performance for your changes switch to Motion Test tab and click Start button The default values of the position loop parameters have been optimized and they should be plug and play for most applications It is unnecessary to tune them when the motor runs well It is only recommended for fine tuning and only adjusts those parameters when you see abnormal symptoms such as loud motor noise or motor stalls easily at high speed Current Position Loops Current mi Position Loop Ki Position Loop Kd Position Loop Kyff Holding
18. t T EEE EEE A ETE EE E A EE TEA 3 Part2 Using Software ssssesessesesssseceossseceoscceceoseseceoseseoeeseceossseceosesececssseceossseceeseseoseseceoseseoeosesesesee 5 Po TO 5 Bo eaea E r a ace cence E A AEA A A E A A E E O A E 5 IS E A E A E A A EEE AA EEE AE A A A EA ERE 6 Diive serine Ment 25 occa ceedeccsdemecnapenedenopdenectnabenedioncsdennsnopenedncsdanasnobansdinnsbdanacnopenedancbdasmcnopenednncsdannchopenedencsdesnchoosaesenet 7 Woa AME Ses at eet et te sl ta nse eet ae teil HH 7 vides EO TOO On enone Ont eh one et E One ten ont et hone re enter hone reyes 9 IRE a L eR TTT 18 TRS ETT 19 Morar U0 S cso ca teen cocsrascoes A EEN seins does eee coos ENE EEN gues doeeeeedocs 20 OU ONS ete ea agate he aerate E cae E E E T 22 DANA NCCT E N E A EA A A A E A T A A A E E A E T 22 Part3 Configuration Tips Suggested steps to configure a iSS stepper servo Motor eee Configure Current Output Contact US cccccccccecces e Leadshine Leadshinie Protuner for iSS Software User Manual Part1 Introduction ProTuner for iSS is a software that Leadshine developed to configure and tune iSS series stepper servo motors including iSS57 10 and iSS57 20 at the moment more models will be added in the future With that software a user can configure iSS motors output current micro step command type and other parameters It can be also used to fine tune iSS series motors current loop and position loop parameters System Requirem
19. w appears when Project gt Exit menu item is clicked Click Yes to exit ProTuner for iSS software or click Cancel button to cancel 6 26 e Leadshine Leadshinie Protuner for iSS Software User Manual Drive Setting Menu Inputs Outputs Click Drive gt Inputs Outputs to open the I O configuration window You can chose to free or lock motor shaft after disabling drive select the Pulse Active Edge active level of In position output active level of fault output active low disabling or active high disabling and pulse bandwidth Input s Outputs After Disabling Drive In position Signal Level Pulse Mode Y Free Motor Shaft Y Active Low Impedance Y PUL DIR C Lock Motor Shaft C Active High Impedance C CNC Fault Output Disabling Pulse Bandwidth Active Low Active Loy Y 200 KHz Active High C Active High C 500 KHz 7 26 Inputs Outputs Item After Disabling Drive In position Signal Level Pulse Mode Fault Output Disabling Pulse Bandwidth Continued Description Select to free or lock the motor shaft after disabling drive If the free motor shaft is selected the drive board will close all the power state after disabling drive and the motor coil current is set to zero You can perform manual move via the free motor shaft selection Otherwise if the lock motor shaft is selected the motor shaft will be locked and the motor current will be set to the value of holdi
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