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Tel: (86)755-26434369
32
Website: www.leadshine.com
Leadshine
’
s DCM5xxxx DC servo motors, Leadshine will tune the current loop
before sending drivers out of the factory.
Leadshine 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 Leadshine
’
s DCM5xxxx DC servo motors. If you use the DCS303
with DC servo motors from other manufacturers and current loop tuning is needed.
Please contact Leadshine for special version ProTuner to tune the current loop.
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 6-19 and Figure 6-20 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.
Figure 6-19: Self-test motion settings for the tuning
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0
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Tel: (86)755-26434369
33
Website: www.leadshine.com
Figure 6-20: Digital Scope settings for the tuning
As mentioned above, the DCS303 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=1200,
Ki=0, Kd=400 first, and the self-test result is shown in Figure 6-21.
Figure 6-21: Position following error curve and velocity curve (Kp=1200, Ki=0 and Kd=400)
