Leadshine CS Series - Page 16

05. ProTuner - CS1, CS2RS Series
175
Pr 1.01
Velocity Loop Ki
This parameter is used for tuning Velocity loop Proportional gain. Usually keep the default
value for Leadshine stepper motors unless really needed to do so. Set it to 0 if the motor
shakes during settling.
This parameter is used to set the velocity switching point from open loop to closed loop.
Usually keep the default value. Only change it when it causes motor vibration at this mode
switching velocity point.
Pr 2.00
Instruction Filtering Time
This parameter is used to configure the time for internal command filtering. In some
applications, change this value could improve overall system performance.
Note: for multi-axis systems with interpolation, this value must be set to the same for all axes.
Pr2.01
Velocity Switching Point: Open Loop to Closed Loop
This parameter is used for tuning position loop Proportional gain. Usually keep the default
value for Leadshine stepper motors, unless really needed to do so.
• Increase this value will reduce position following error, but could result in motor vibration.
• Decrease the value if the motor vibrates.
Pr 1.02
Velocity Loop Kp
This parameter is used for tuning velocity loop integral gain. Usually keep the default value for
Leadshine stepper motors, unless really needed to do so.
• Increase the value can increase velocity stiffness.
• Reduce this value when the motor vibrates at low speed.
Pr 1.00
Position Loop Kp
이 파라미터는 ‘ENA’ 신호 레벨을 설정하는 파라미터입니다.
‘1’으로 설정한 경우 high level이며, ‘0’으로 설정하면 low level (default) 입니다.
This parameter is used to set the delay time before starting to close the brake. Usually keep
the default value of this parameter unless you really want.
Pr 4.24
Distance to Send "In Position" Output Signal
이 파라미터는 In-Position 신호를 전송하기 위한 펄스 수를 설정하는 파라미터입니다.
Pr 4.30
"ENA" Input Signal Level Setting
이 파라미터는 ‘PEND’ 신호 레벨을 설정하는 파라미터입니다.
‘1’으로 설정한 경우 high level이며, ‘0’으로 설정하면 low level (default) 입니다.
Pr 4.19
Delay of Loosening Brake
This parameter is used to set the delay time before brake releasing. Usually keep the default
value of this parameter unless you really want.
Pr 4.20
Delay of Closing Brake
Pr 2.02
Velocity Switching Point: Closed Loop to Open Loop
This parameter is used to set the velocity switching point from closed loop control to open
loop control. Usually keep the default value. Only change it when it causes motor vibration
at this mode switching velocity point.
Pr 4.00
“PEND” Output Signal Impedance State