D
D
C
C
S
S
3
3
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0
3
3
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D
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i
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i
i
t
t
a
a
l
l
D
D
C
C
S
S
e
e
r
r
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v
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D
D
r
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M
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v
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1
1
.
.
0
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Tel: (86)755-26434369
22
Website: www.leadshine.com
Com Config Window
Figure 6-11: 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
>
Position Loop
on the menu bar.
Ø
Tuning
The user can choose one or two drop-down menu(s) by clicking
Tuning
, including
CurrentLoop (Only exist in special version.)
and
PositionLoop
.
l
PositionLoop
: There are three tabs in
Position Loop Tuning
window,
including
P_parameter
,
T_Speed_Par
, and
CurveSetting
tabs.
D
D
C
C
S
S
3
3
0
0
3
3
D
D
i
i
g
g
i
i
t
t
a
a
l
l
D
D
C
C
S
S
e
e
r
r
v
v
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D
D
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R
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v
v
1
1
.
.
0
0
Tel: (86)755-26434369
23
Website: www.leadshine.com
Figure 6-12: 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 oscillate),
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
