DM870 Digital Stepping Driver Manual V1.0
Tel: +086 0755-26434369 21 Web Site: www.leadshine.com
l
Exit:
Exit the
ProTuner
.
Com Config Window
Figure 21: RS232 communication configuration window
Serial Port:
Select the serial communication port to which the Drive 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 Drive, or to upload the stored
Drive settings into the
ProTuner
by clicking
Tuning
>
Position Loop
on the menu bar.
Tuning
The user can choose one or two drop-down menu(s) by clicking
Tuning
, including
CurrentLoop
and
SystemConfig
.
l
CurrentLoop
: In Current Tuning window, the user can tune the
Kp
(
Proportional Gain
) and
Ki
(
Integral Gain)
of Drive
’
s current loop to optimize responses with different motors.
Start/Restart a Step Response test to get an optimum response.
Kp: Proportional Gain
. 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 like
Figure 23. Too large Proportional Gain values will cause oscillations and unstable systems.
DM870 Digital Stepping Driver Manual V1.0
Tel: +086 0755-26434369 22 Web Site: www.leadshine.com
Figure 22: Current Tuning window
Ki:
Integral Gain
. 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.
Start
button: The user can start a Step Response test by clicking this button. Start/Restart a Step
Response test to get an optimum response like Figure 22, and remember to save the settings to the
Drive when finish tuning. See Figure 24.
Figure 23: Kp=543, Ki=0 (poor performances)