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Tel: (86)755-26434369
14
Website: www.leadshine.com
Figure 5-1: Step and impulse responses
As mentioned in previous contents, the DCS303 is a digital servo driver and its input
command is PUL/DIR signal. 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 8, 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 5-1 at
“
time 20
”
.
Leadshine offer a Windows based setup software
ProTuner
to its customers for
evaluating servo performances. Small servo tuning unit
STU
(optional) is available
too, and it
’
s for field tuning without PC.
Tuning servo systems formed by DCS303 drivers can be summarized as the
following rules:
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Tel: (86)755-26434369
15
Website: www.leadshine.com
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.
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 DCS303 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.
