Leadshine Technology ACS806 - Page 17

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Tel: (86)755-26434369 28 Website: www.leadshine.com
window by selecting Tuning->CurrentLoop, a password input window will appear.
Leadshine just offers password to some customers for tuning current loop,
while most of customers just need to tune the position loop parameters if they use
the drives with Leadshine’s ACM series servo motors. If you use the ACS806 with
AC servo motors from other manufacturers, the current loop tuning may be needed.
Please contact tech@leashine.com for the password to tune the current loop.
Figure 26: Current-loop tuning window
To start the current-loop tuning, please enter a command value in the I-test textbox
(unit: A). Then take following steps to get optimization step response.
1. Give Kp a value and set Ki 0. Click the ‘Start’ button and observe the green
curve in the window.
2. If the response is an over-damped response as shown in figure 26, increase Kp
until get an under-damped response as figure 27.
3. If get a large overshoot response as shown in figure 28, decrease Kp to get a
smaller overshoot response as figure 27.
4. After getting a small overshoot response, increase Ki to reduce the steady-state
Proportional Gain
(0~65535)
Integral Gain
(0~65535)
Command Value
(0~6)
Click to start test
Command Curve
Actual Curve
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Tel: (86)755-26434369 29 Website: www.leadshine.com
error until get a critically damped response. See figure 29.
Figure 27: Step response with better Kp of current-loop (Kp = 25000)
Figure 28: Response with High Kp of current-loop (Kp = 60000)
Begin to Overshoot
Large Overshoot