Leadshine Technology ACS806 - 7. PC window based Tuning Using ProTuner; ProTuner Installation

A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
i
g
g
i
i
t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: (86)755-26434369 18 Website: www.leadshine.com
response to be sluggish, namely cause the system to get into an OVER DAMPED
state. 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 11: Step and impulse responses
As mentioned in previous contents, the ACS806 is a digital servo drive 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 11, 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 11 at “time 20”.
Leadshine offers 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.
A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
i
g
g
i
i
t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: (86)755-26434369 19 Website: www.leadshine.com
Tuning servo systems formed by the ACS806 can be summarized as the following
rules:
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 Drive’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 to ProTuner
As a professional tuning tool, ProTuner has been developed specially for all
Leadshine digital drives. It can be also used to configure the servo drive for many
settings such as control signal modes, number of motor poles, position following
error limit, default move direction, and etc. The most important feature is ProTuner
offers the numeric method for tuning position-loop parameters (Kp, Kd, Ki) and
give a visualization result synchronously for users to evaluate the performance of the
system.
Before Tuning
ProTuner Installation
The ProTuner is windows based setup software for tuning Leadshine’s digital drives.
It can run in windows systems, including Win95/Win98/WindowsNT/Windows2000