DCS810V2 - CNCShop.cz
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1. cccccccccssssssssssseeeeeccccceeeeeeeeeaeaneeseeees 1 WARRANTY LIMITATIONS becisucscccssesicconseseacevsestacasaasecdinssevtecussgvedeuvsewsecwuansaaterss 1 SHIPPING FAILED PRODUCT se iicsvicccseesvesedicsecsceictans land erseveneveusdore seartonetanb ieee sees 2 MOT AC EA 8 voce ac score A NE EE AEAEE ESTE ET IEA AST ENTE TENTE 3 Tel 86 755 26434369 MI Website www leadshine com A Leadshine Technology Co Ltd 1 Introduction Features and Applications DCS810V2 Digital DC Servo Driver Manual Rev1 0 Introduction The DCS810V2 is a digital DC servo driver developed with DSP and high efficient MOSFET technologies In position control it s easy for the end users to change stepping drivers to the DCS810V2 without changing control systems because its input command is PUL DIR signal which is compatible with that of stepping drivers In low power motion control applications performances of DC servo systems using the DCS810V2 are better than those of digital AC servo systems in velocity precision noise stability or at least as good as those of digital AC servo systems However the cost of the DCS810V2 stays at the price line of stepping driver namely far lower than those of AC servo drivers Compared to the DB810 50V the DCS810V2 can accept differential control signals and differential encoder feedback signals offering better anti interference performances Meanwhile the DCS810V2 has higher Max Pulse Input Frequency henc2. DCS810 2 exe DESETO ConfigoOl DCS810 2 Configh02 DCSS102 Contigils D Program Files ProT uner AMD S81 OV _Contig i ToLtisk ToDevice Click to download data to the Drive from the selected file Figure 4 Download data to the drive Tel 86 755 26434369 49 Website www leadshine com A Leadshine Technology Co Ltd APPENDIX DCS810V2 Digital DC Servo Driver Manual Rev1 0 TWELVE MONTH LIMITED WARRANTY Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipping date During the warranty period Leadshine will either at its option repair or replace products which proved to be defective EXCLUSIONS The above warranty shall not apply to defects resulting from improper or inadequate handling by customer improper or inadequate customer wiring unauthorized modification or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product OBTAINING WARRANTY SERVICE To obtain warranty service a returned material authorization number RMA must be obtained from customer service at e mail tech leadshine com before returning product for service Customer shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer WARRANTY LIMITATIONS Leadshine makes no other warranty either exp
3. The DCS810V2 can accept encoder input from either differential or single ended encoders Differential encoders are preferred due to their excellent noise immunity The connections for a single ended encoder are identical to a differential encoder except that no connections should be made to channel A and channel B The A and B lines are pulled up internally to 2 5V Note that twisted pair shielded cabling provides the best immunity in electrically noisy environments If the encoder drains less than 50mA the DCS810V2 can supply the encoder directly and connect it as Figure 3 4 or Figure 3 5 If the encoder drains more than 50mA use an external DC supply and connect it as Figure 3 6 or Figure 3 7 DCS810 DCS810 E 5V 5V Encoder EB Channel B EB N C EGND GND EA Channel A Encoder EA Channel A EB Channel B EB Channel B Figure 3 4 The DCS810V2 supplies the the differential encoder directly E DC Power Supply GND VCC GND EAt Channel A EA Channel A Encoder EB Channel B EB Channel B Figure 3 5 The DCS810V2 supplies single ended encoder directly DCS810 DCS810 E 5V Channel A EA EA NC Encoder EB Channel B BEN E C Figure 3 7 Using external DC power to supply the single ended encoder Figure 3 6 Using external DC power supply to supply the differential encoder Tel 86 755 26434369 8 Website www le
4. 90 Vi 0 Kp 300 Kaff 0 Kd 500 Encoder line 4000 Please hit the Enter key in the keyboard and click Option gt SaveToDrive after changing the parameter The initial value for the tuning is depending on supply voltage motor and reflected load inertia The above settings may not suitable for your system Please adjust them according to different symptom as follows Decrease Vp Kp if the motor generates big noise Increase Vp Kp if the drive s red LED blinks Protection mode Tip Giving an external torque by rotating the motor shaft or moving the load manually is good way to check whether the Vp and Vd are suitable or not If it is hard to rotate move and the motor generates big noise you should lower down Vp Kp If it is easy to rotate move and even the drive goes into protection mode the red LED blinks you should increase Vp Kp DC Brush Motor Figure 6 27 Observe the motor noise vibration when increasing loop gain Tel 86 755 26434369 40 Website www leadshine com A Leadshine Technology Co Ltd Step 2 Increase Vp until motor noise vibration begins Then back off To activate DCS810V2 Digital DC Servo Driver Manual Rev1 0 the noise vibration sometimes you need to give a disturbance to the load by either clicking the Start button or trying to push pull the load In this example we give Vp 120 150 200 250 and find that the noise vibration at Vp 250 can be accepted So we stop inc
5. ccccccccccccssssssesssseeeeeeeeeeeeeeeeeeaaas 12 Wat OGrAU CC 55a Ns elas ae dne nha AA ele adeeb eda anda eae ho 12 Tel 86 755 26434369 I Web site www leadshine com Contents ACAD IC ROMEO enaA N 12 PW ISTE W IES wsevs5ce5an can canecues NSA 12 Cable Shielding ann See i aeons 13 DY SCSI CO INN aaa a teed ann aides ceand econ laces caxicase asaeetecaateseae 13 Power SUDDlY CONNECIOIN 22 43 3 4 siiia he ie eene a 13 ys OTT PINES CE VO os fsa sts rs aa cece a ceca sas oars E Ra acta nae nema an seas 14 Tesine hese Osean recheck os at al ihc ae ath lila shea heat isha ea ethan tiel wheat nas 14 TORTI UIC VO cctent re og T A e nea eee 15 6 PC window based Tuning Using ProTumet c ccc cceeeseesseeseeeeeeeeeeeeeeeeaeeeeeeeeeees 17 HUE OCUC Omsan A 17 Olt Ware lnstal INON an O E oad 17 R320 2 Miterace C One ON ess a ass taeaedsncasenmsaeren 21 Testne the SEN O esenea a E 22 SOL W AES MOCO merren a A E A ET 23 Pro Purine Main Wi OW asic asec ste Ai ecient el ha on aa 23 Con E OMI Ne WiAnilOW svcd seton tet des a S 24 LUNE e 5 denen tas aciaac aba acest esceuarone dcseuaacssauakiaciauehacsuauseaawieasacaas aaa aneiacessdeniaaiss 24 Distal AMON LOM sss cs ceecacsaavacsctscnecacssaaseaacaceaeas N 30 PE RCH Ke EEEE ET AE nce ace aie ace a nearer ae ace eae 30 PROMS tases E E E E E eiateeteaids 32 SCIVO TONINO neroa a cewoiaadd nia decatned cade eoanad 33 Positron Loop ING OdUCUON scires a EA 33 Positomaround Velocity e
6. regard to the DCS810V2 feedback resolution is x4 encoder line count edge Active Edge The user can set the triggered edge of pulse command signal in this panel Up means up rise edge and Down means falling edge When the driver works in CW CCW mode no matter what level is at fixed level terminal the driver can works properly reverse Reverse Direction Change the default direction to the same input level in DIR For example the motor run CW at default setting and will run CCW if reverse is selected Start Stop button The user can start or stop self test by clicking this button Fosition Tuning top rpm 1000 Accel rss fog Length p 40000 Interval ms 50 Fepeat_times id Stat TSpeed Par cuveseting Figure 6 13 T_Speed_Par tab In T_Speed_Par tab the user can set velocity profile for self motion test and tuning including Maximum Speed Acceleration position move Distance of trapezoidal Tel 86 755 26434369 27 Website www leadshine com A Leadshine Technology Co Ltd velocity profile and Interval Repeat Times of self motion test DCS810V2 Digital DC Servo Driver Manual Rev1 0 V_top Maximum Speed The maximum speed of trapezoidal velocity profile Its unit is RPM Accel Acceleration The acceleration of trapezoidal velocity profile Its unit is r s s Length Distance The distance required to move Its unit is pulse count Interval The interval between positive rotation and negat
7. t work after you followed all of the previous steps please contact us at tech leadshine com If the red LED is off and the motor is normal then you can start to tune the servo with selected tool ProTuner and STU are available for the DCS810V2 Tel 86 755 26434369 14 Website www leadshine com A Leadshine Technology Co Ltd Tuning the Servo DCS810V2 Digital DC Servo Driver Manual Rev1 0 A servo system is error driven The Gain of the system determines how hard the servo tries to reduce the error A high gain system can produce large correcting torques when the error is very small A high gain is required if the output is required to follow the input faithfully with minimal error A servo motor and its load both have inertia which the servo amplifier must accelerate and decelerate while attempting to follow a change at the input The presence of the inertia will tend to result in over correction with the system oscillating beyond either side of its target It s called UNDER DAMPED status See Figure 5 1 This oscillation must be damped but too much damping will cause the 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 Step and Impulse Responses resem Under Damped A Critically Damped At i eseese Over Damped i Impulse Inter
8. www leadshine com A Leadshine Technology Co Ltd by clicking this button DCS810V2 Digital DC Servo Driver Manual Rev1 0 About The user can choose two drop down menus by clicking About including Product Information and Contact Us Product Information window Shows some product information about ProTuner Contact Us window Shows some contact information about Leadshine Leadshine Serro Model DCS810 Date 2009 12 12 wan leadshine cam Figure 6 17 Product information Contact Us Leadshine Technology Co Ltd Tel 0T55 26433336 Faz O07T55 26402T16 Teb rrr Leadshine com Addr Floor3 Block Wanyouli anan Industrial Fark Hanshan District Shenzhen China ZIF 318032 Figure 6 18 Contact information Tel 86 755 26434369 32 Website www leadshine com A Leadshine Technology Co Ltd Servo Tuning DCS810V2 Digital DC Servo Driver Manual Rev1 0 Position Loop Introduction Position loop tuning is dependant on the mechanical load and therefore will change with any mechanical system changes Position loop tuning should be performed with the motor installed in the system The position loop can be closed around velocity or torque mode depending on whether the velocity loop is enabled or disabled If it is closed around velocity mode the position loop algorithm output becomes the new velocity set point If it is closed around torque mode the position loop algorithm output bec
9. 26434369 33 Website www leadshine com A Leadshine Technology Co Ltd achieved integral gain can be added to improve stiffness It is best to use a step DCS810V2 Digital DC Servo Driver Manual Rev1 0 command with the profiler enabled as a reference signal during tuning Driver tuning is a multi step process that involves proper tuning of up to three different servo loops namely current loop velocity loop and position loop You can either tune the position loop around the velocity loop or around the current loop Generally it is much easier to tune a position loop around a velocity loop because only the proportional gain is needed When tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains For most of the DCS810V2 drivers have been being sold to the customers with Leadshine s DCM5xxxx DC servo motors Leadshine will tune the current loop before sending drivers out of the factory Most of customers just need to tune the position loop parameters with the standard version if they use the drivers with Leadshine s DCMS5xxxx DC servo motors If you use the DCS810V2 with DC servo motors from other manufacturers and current loop tuning is needed Please use ProTuner to tune the current loop at first Follow the steps below for tuning the driver with the ProTuner Current Loop Tuning Example If user uses Leadshine DCM series motor they don t need to tune
10. 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com and vic leadshine com Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web http www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com Leadshine Hong Kong Address Rm 3 9 F Block E Wah Lok Industrial Center 31 41 Shan Mei St Fo Tan Shatin Hong Kong Tel 852 2952 9114 Fax 852 2952 9395 Email hk_sales leadshine com Tel 86 755 26434369 3 Website www leadshine com
11. Its unit is ms Err_check Error Check This window shows both the present status of each error event and their history Current error event s can be reset by clicking Erase Current Err button and all error events can be reset by clicking Erase All button Tel 86 755 26434369 30 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 Figure 6 16 Error check window OverCurrent Over current Protection Protection will be activated when continuous current exceeds 20A Over Voltage Over voltage Protection When power supply voltage exceeds 36 5 1 5 VDC protection will be activated PhaseErr Phase Error Protection Motor power lines wrong amp not connected and encoder feedback signals A B phases wrong connected will activate this protection EncoderErr Encoder Error Protection No encoder feedback signals or wrong encoder feedback signals will activate this protection FollowingErr Position Following Error Limit Protection When position following error reaches Position Following Error Limit parameter setting in the driver this protection will be activated ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s by clicking this button Erase All Erase All button The user can clear all error s including error history Tel 86 755 26434369 31 Website
12. acceleration and deceleration Kd Position Derivative Gain Derivative Gain provides damping by adjusting the output value as a function of the rate of change of error A low value provides very little damping which may cause overshoot after a step change in position Large values have slower step response but may allow higher Proportional Gain to be used without oscillation Vp Velocity Proportional Gain It is similar as Kd but for velocity loop Vi Velocity Integral Gain It is used to adjust the steady velocity error when the velocity is stable CAM_ numerator Numerator of Electronic Gear Can be set from 1 to 255 CAM denominator Denominator of Electronic Gear Can be set from 1 to 255 Position FollowErrLimit Position Following Error Limit The limit of the difference between commanded position and the actual measured position When position following error reaches Position Following Error Limit parameter setting in the driver the protection will be activated Encoder Lines Encoder Line Count The DCS810V2 supports single ended and differential ended incremental encoders Here one thing should explained is that the Tel 86 755 26434369 26 Website www leadshine com A Leadshine Technology Co Ltd Encoder Lines parameter in this tab is just for self test motion controller durin DCS810V2 Digital DC Servo Driver Manual Rev1 0 tuning and will not affect the driver to interpret the encoder feedback signal With
13. application Current A Minimum wire size AWG 10 20 15 18 20 16 Cable Routing All content sensitive signal wires should be routed as far away from motor power wires and driver power wires as possible Motor power and driver power wires are major sources of noise and can easily corrupt a nearby signal This issue becomes increasingly important with longer motor power and driver power wires lengths Twisted Wires Twisted wires effectively increasing noise immunity The successive twists eliminate noise transients along the length of the cable Both signal cables and power cables should be of the twisted and shielded type Differential signal wires should be twisted as a pair The combination of twisted pair wires and a differential signal significantly adds to noise immunity Power wires should be twisted as a group Tel 86 755 26434369 12 Website www leadshine com A Leadshine Technology Co Ltd along with the ground or chassis wire if available DCS810V2 Digital DC Servo Driver Manual Rev1 0 Cable Shielding All signal wires should be bundled and shielded separately from driver power and motor power wires Power wires should also be bundled and shielded When grounding a shield the rule of thumb is to do so at the source of power while leaving the other shield end open For example in the case of motor power wires this would be the drive side Ideally twisted pairs should be individually shielded and isol
14. as short as possible since the cable between the two is a DCS810V2 Digital DC Servo Driver Manual Rev1 0 source of noise When the power supply lines are longer than 50 cm a 1000uF 100V electrolytic capacitor should be connected between the terminal GND and the terminal VDC This capacitor stabilizes the voltage supplied to the drive as well as filters noise on the power supply line Please note that the polarity can not be reversed It is recommended to have multiple drivers to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drivers Instead please connect them to power supply separately 5 Tuning the servo Testing the servo You may wish to secure the motor so it can t jump off the bench Turn on the power supply the green Power LED will light The DCS810V2 has default parameters stored in the driver If the system has no hardware and wirings problem the motor should be locked and the driver should be ready If the motor jumps slightly and the red LED immediately turns on flickers then either the motor or the encoder is wired in reversal Open the tuning software ProTuner and check driver status by clicking Err_check If it s Phase Error then reversal motor wires or exchange encoder inputs and try again If it s Encoder Error please check encoder and its wirings and then try again If it still doesn
15. on the power supply the green Power LED will light The DCS810V2 has default parameters stored in the driver If the system has no hardware and wirings problem the motor should be locked and the driver should be ready If the motor jumps slightly and the red LED immediately turns on flickers then either the motor or the encoder is wired in reversal Open the tuning software ProTuner and check driver status by clicking Err_check If it s Phase Error then reversal motor wires or exchange encoder inputs and try again If it s Encoder Error please check encoder and its wirings and then try again If it still doesn t work after you followed all of the previous steps please contact us at tech leadshine com If the red LED is off and the motor is normal then you can start to tune the servo with ProTuner However we recommend you see the following contents before starting tuning Tel 86 755 26434369 22 Website www leadshine com A Leadshine Technology Co Ltd Software Introduction DCS810V2 Digital DC Servo Driver Manual Rev1 0 ProTuner Main Window i DCS303 Digital DC Servo ProTuner x zite Menu Bar Leading Technology Shining Value LEADSHINE 4 www leadshine com Status Bar Status hi Ltd Date 20095 26 Time EF 105 Figure 6 10 ProTuner Option The user can choose three drop down menus by clicking Option including Com Config SaveToDriver Archives and Exit Com Config Confi
16. 4200 Ki 14500 test f Start Kp Current Proportional gain Increase this parameter to make current rise fast Ki Current Integral gain Adjust this parameter to reduce the steady error I test The current amplitude for the step response Start button Click to activate the test A target curve and a actual curve will display on the screen for user analysis PositionLoop There are three tabs in Position Loop Tuning window including P_parameter T_Speed_Par and CurveSetting tabs I mA Y nmin P aT ms Kp 15200 Vp 190 CA4M_numerator 1 Encoder lines 4000 Kaff 200 Vir 10 CAM_denominator 1 eage up down Kd 3000 FollowErrLimit 4000 lv reverse P parameter T_Speed_par CurveSetting Figure 6 12 P_parameter tab Tel 86 755 26434369 25 Website www leadshine com A Leadshine Technology Co Ltd In P_parameter tab the user can set Position Loop PID parameters Electronic DCS810V2 Digital DC Servo Driver Manual Rev1 0 Gear Ratio Position Following Error Limit etc Kp Position Proportional Gain Proportional Gain determines the response of the system to position errors Low Proportional Gain provides a stable system doesn t oscillate has low stiffness and large position errors under load Too large Proportional Gain values will cause oscillations and unstable systems Kaff Position Acceleration feed forward gain It is used to adjust the position following error during
17. Note ProTuner_All_Setup_V1 0 exe can be used for all Leadshine digital drives User can get it from either Leadshine CD or website Please get the lasted version from http www leadshine com Tel 86 755 26434369 17 Website www leadshine com A Leadshine Technology Co Ltd a A Leadshine Technology Co Ltd a DCS810V2 Digital DC Servo Driver Manual Rev1 0 DCS810V2 Digital DC Servo Driver Manual Rev1 0 Pro uner All Setup amp Proluner All Setup User Information Enter your user information and click Next to continue Welcome mo Welcome to the installer for ProTuner All 1 0 itis strongly recommended that you exit all Windows Company programs before continuing with this installation Ifyou have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue amp Proluner All Setup PA Pro uner All Setup License Agreement ih Installation Folder Please read the following license agreement carefully Where would you like ProTuner All to be installed Thank you for choosing Leadshine product The software will be installed in the folder listed below To select a different location either type in a new path or click Change to browse for an existing folder Install ProTuner All to D Program Files ProTuner All e 7 i Space required 27 5 MB do not agree to the terms of this license agreement Sp
18. R LOW Please note that motion direction is also related to motor driver wiring and encoder feedback A B phase signals Exchanging the connections of two wires of the motor to the driver and A B phase signals of encoder will reverse motion direction Enable signal This signal is used for enabling disabling the driver High level NPN control signal PNP and Differential control signals are on the contrary namely Low level for enabling for enabling the driver and low level for disabling the driver Usually left UNCONNECTED ENABLED Series connect resistors for current limiting when using 12V or 24V control signals Tel 86 755 26434369 5 Website www leadshine com A Leadshine Technology Co Ltd PUL DIR and CW CCW Mode Settings DCS810V2 Digital DC Servo Driver Manual Rev1 0 There are four resistors R31 R32 R33 R37 inside the DCS810V2 specifically for setting PUL DIR and CW CCW modes as shown in figure 3 1 Default setting is b namely PUL DIR mode DIR LOW for positive direction and DIR HIGH for negative direction ege 8 e224 8 eo a a R31 R37 short circuit PUL DIR mode DIR HIGH for Positive Direction DIR LOW for Negative Direction R31 PRA R32 wp R37 b R31 R37 short circuit PUL DIR mode DIR LOW for Positive Direction DIR HIGH for Negative Direction R31 R32 naa O Rar c R32 R37 short circuit CW CCW mode effective at LOW level The fixed level Figure 3 1 PUL DIR and CW CCW settings Control
19. Signal Connections The DCS810V2 can accept differential and single ended inputs including open collector and PNP output The DCS810V2 has 2 optically isolated logic inputs to accept line driver control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the control signals Recommend use line driver control signals to increase noise immunity in interference environments In the following figures connections to open collector and differential control signals are illustrated Tel 86 755 26434369 6 Website www leadshine com A Leadshine Technology Co Ltd Controller DCS810 Driver VCC DCS810V2 Digital DC Servo Driver Manual Rev1 0 NOTES R 0 if VCC 5V R 1K gt 0 125W if VCC 12V R 2K gt 0 125W if VCC 24V R must be connected to controller signal terminal Figure 3 2 Connections to open collector control signal common anode Controller DCS810 Driver NOTES R 0 if VCC 5V R 1K gt 0 125W if VCC 12V R 2K gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 4 Connections to PNP signal common cathode Controller DCS810 Driver 2702 NOTES Make sure that the current through the optocoupler is between 7 mA and 15 mA Figure 3 3 Connections to differential control signal Tel 86 755 26434369 7 Website www leadshine com A Leadshine Technology Co Ltd Encoder Connections DCS810V2 Digital DC Servo Driver Manual Rev1 0
20. User s Manual DCS810V2 Digital DC Servo Driver Revision 1 0 2009 All Rights Reserved Attention Please read this manual carefully before using the driver Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China Tel 86 755 26434369 Fax 86 755 26402718 URL www leadshine com E Mail sales leadshine com The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2009 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications ccccccccccccccccceeeeeesssseseeeeeeeeeeeeeeeeee
21. aaas i TT E OAUC HOM aserne be soueeeee ateee beueee ent i CALE OS T E E E ce cares N E cae pale E E E E E N PND OUI CATIONS goie a ae atch nti ots sate ashy ee eiehu Tian N 2 2 Specifications and Operating EnvirOnMent c cccccccccccccceeesssseseeseeeeeceeeeeeeeeeeaas 3 Mechanical Specifications 2 dais scvinadaadtuvesaracuepsas E a AEA aaa 3 Enmandon of Heakene ena A AA AA 3 ICCC ale S PeCuICAlIONS ensa andesite hate syineins iad ate iasasidan ane tances eda 3 Operating Environment and Parameters cccccccccsssssssesssseseeecceeeeeeeeeeeeeseeeeeeees 4 Di COMME CLIONS EE EOE eee a aaa aaa ass 4 COMME CLOL COS ura OM E E 4 General informatio essc a at Ad cea ite 4 More about PUL DIRK EN Signal Sres ae nears 5 PUL DIR and CW CCW Mode Settings 20 ccccccccsssssseeseeeeeeeeeeeeeeeseeenaas 6 CoOng ol S onal Connections srra E 6 Encoder Connections 44 21 ee ee ee 8 RS2 52 IMteriace COMMEC NOs aaa aa aAA 9 Typical COMMECHONG esa a heetied aye Maia aia beee de nee 9 As SCEV Or SG a dace sesge rate Races data aaa haa Nese vont decane eal Melee sea 10 stal Enc 074 ar eae erase ms oe mt on rn on eon a 10 Prepare Power SUD DLW sccauion cates tes estes See ee E 11 Regulated or Unregulated Power Supply cccccccssssssseesseeeeeeeeeeeeeeeeeaas 11 Selecine SUPPLY Vol Cessa E seeuandaceleaatieeecestaeaaceneaaes 11 Prepare COMmrourer oiseau o a E aia eAdta ane alateiaeees eae 11 System Connections and Noise Prevention
22. ace available on selected drive 5 46 GB Figure 6 2 License agreement Figure 6 4 Installation folder settings Choose I agree to the terms of this license agreement and click Next to continue installation The user can enter user s information in the following window See Figure 6 3 After entering the user s information click Next to select installation folder where you would like to install the ProTuner See Figure 6 4 Tel 86 755 26434369 18 Website www leadshine com Tel 86 755 26434369 19 Website www leadshine com A Leadshine Technology Co Ltd amp Proluner All Setup DCS810V2 Digital DC Servo Driver Manual Rev1 0 Shortcut Folder Where would you like the shortcuts to be installed The shortcut icons will be created in the folder indicated below If you dont want to use the default folder you can either type a new name or select an existing folder from the list Shortcut Folder ProTuner All Install shortcuts for current user only Make shortcuts available to all users Figure 6 5 Shortcut folder setting Set the Shortcut Folder in Figure 6 5 and continue to install the ProTuner by following Figure 6 6 and Figure 6 7 An Installation Successful window will appear if the ProTuner is installed successfully See Figure 6 8 ProTuner All Setup Ready to Install You are now ready to install ProTuner All 1 0 The installer now has enough information to install ProTuner A
23. adshine com A Leadshine Technology Co Ltd RS232 Interface Connection DCS810V2 Digital DC Servo Driver Manual Rev1 0 DCS810 1 PC with Protuner 2 STU DCS Small Servo Tuning Unit Digital Servo Driver Special Cable Figure 3 8 RS232 interface connection Typical Connections Two typical connections of the DCS810V2 are shown as Figure 3 9 and Figure 3 10 Please consult Control Signal Connections and Encoder Connections for more information about controller and encoder connections Controller Channel A Channel B Motor J DC Servo Encoder Motor Motor VDC DC Power 18V to 80V GND Figure 3 9 Typical connection Open collector control signal and single ended encoder Tel 86 755 26434369 9 Website www leadshine com A Leadshine Technology Co Ltd Controller DCS810V2 Digital DC Servo Driver Manual Rev1 0 Motor DC Servo 8v to s80v onp 18V to 80V NOTES Make sure that the current through the optocoupler is between 7 mA and 15 mA Figure 3 10 Typical connection Differential control signal and differential encoder 4 Servo Setup Before you start the servo you can follow the below steps Install Encoder If your motor has no encoder you must have an encoder more than 200 lines properly mounted on the motor before you start And please assemble the encoder according to its factory manual Here we recommend use differe
24. an meet your application requirements then the easier tuning way the better Just like if the performances of the products can meet your application requirements then the cheaper the better Tel 86 755 26434369 44 Website www leadshine com A Leadshine Technology Co Ltd eo DCS810V2 Digital DC Servo Driver Manual Rev1 0 7 Using Tips Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and EN should abide by some rules shown as the following figure tous oe ee a High Level gt 3 5V Hi a High Level gt 3 5V PUL Low Level lt 0 5V DIR S Li zen Low Level lt 0 5V L Figure 7 1 Sequence chart of control signals Notes a t EN must be ahead of DIR by at least Sus Usually ENA is NC not connected See Connections section for more information b t DIR must be ahead of PUL effective edge by at least Sus to ensure correct direction c t Pulse width not less than 2 5s d ty Low level width not less than 2 5s Protection Functions To improve reliability the driver incorporates some built in protection functions The DCS810V2 uses one RED LED to indicate what protection has been activated The periodic time of RED is 5 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be Tel 86 755 26434369 45 Website www leadshine
25. ated from the outer shield which encompasses all wires within the cable However since this type of stringent shielding practice is often not required typical cables do not provide isolation between inner and outer shields System Grounding Good grounding practices help reduce the majority of noise present in a system All common grounds within an isolated system should be tied to PE protective earth through a SINGLE low resistance point Avoiding repetitive links to PE creating ground loops which are a frequent source of noise Central point grounding should also be applied to cable shielding shields should be open on one end and grounded on the other Close attention should also be given to chassis wires For example motors are typically supplied with a chassis wire If this chassis wire is connected to PE but the motor chassis itself is attached to the machine frame which is also connected to PE a ground loop will be created Wires used for grounding should be of a heavy gauge and as short as possible Unused wiring should also be grounded when safe to do so since wires left floating can act as large antennas which contribute to EMI Power Supply Connection NEVER connect power and ground in the wrong direction because it will damage the DCS810V2 driver The distance between the DC power supply of the drive and Tel 86 755 26434369 13 Website www leadshine com A Leadshine Technology Co Ltd the drive itself should be
26. city and position loop parameters Vp Vi Kp Kp Kaff see page 25 connect the system as figure 6 19 Then set self test motion parameter and select the display curve in digital scope as figure 6 25 figure 26 TraceTime affects the display length of the curve Here we select 720ms Position Parameter Vtop 1000 RPM Accel 250 R S Length 30000 pulses Inernal 80 ms Repeat 1 V _top rpm 1000 Accel r s s 250 Length p 30000 Interval ms s0 Repeat_times fi O S C Epam T Speed par Omes Figure 6 25 Self test motion settings for the tuning Position Parameter mA V rimin P M ie M v e lv p_err TraceTime 720ms Piet Mvret T pret o Stat T_Speed_par _CurveSetting Figure 6 26 Digital Scope settings for the tuning Tel 86 755 26434369 39 Website www leadshine com A Leadshine Technology Co Ltd Our purpose is to get the highest system stiffness but lowest motor noise However DCS810V2 Digital DC Servo Driver Manual Rev1 0 sometimes we need to trade off between them because high loop gain leads to big overshoot even vibration In this example we start with small loop gain and then back off at the time when the motor noise begins The Kaff application feed forward gain will be increased to further reduce the position following error if necessary The tuning procedure is shown as follows Small Vp Kp Kaff Vpt Vp Kpt Kp Kafft Step 1 Set Vp
27. com A Leadshine Technology Co Ltd displayed by RED LED so the driver will decide what error to display according to DCS810V2 Digital DC Servo Driver Manual Rev1 0 their priorities See the following Protection Indications table for displaying priorities Over current Protection Protection will be activated when continuous current exceeds 20A and RED LED will turn on once within each periodic time 5 s Over voltage Protection When power supply voltage exceeds 84 541 5 VDC protection will be activated and RED LED will turn on twice within each periodic time 5 s Phase Error Protection When power up motor power lines wrong connected and encoder feedback signals A B phases wrong connected will activate this protection If the motor power line s drop s from the drive will also cause this protection RED LED will turn on four times within each periodic time 5 s Note When power up the motor shaft needs to be rotated 1 revolution to activate this protection if the motor power lines are not connected Encoder Error Protection No encoder feedback signals or wrong encoder feedback signals will activate this protection RED LED will turn on five times within each periodic time 5 s Note When power up the motor shaft needs to be stalled or rotated several revolutions to activate this protection if the motor encoder wire s not connected Position Following Error Protection When position following error reaches Posit
28. e can drive a faster motor or choose a higher accuracy encoder for a given motor What s more broader input voltage range makes the DCS810V2 can drive broader range of servo motors Compared to the DB810A parameter visible tuning tools make the DCS810V2 much easier to tune Compared to DCS810V1 an extra velocity loop is built to DCS810V2 for better motor control and flexible tuning The DCS810V2 is very easy to tune and all parameters are visible Parameter visible tuning tools including ProTuner Windows based setup software and STU Small servo tuning unit can meet different tuning environments or requirements Features 18 80VDC 0 20A 20 400W Based on DSP control technology and high smooth servo control algorithm Tel 86 755 26434369 1 Website www leadshine com A Leadshine Technology Co Ltd PAE DCS810V2 Digital DC Servo Driver Manual Rev1 0 Parameter visible tuning tools including Pro Tuner EZ Tuner and STU Feedback resolution x4 encoder line count Position Following error lock range adjustable Position error can be eliminated to 1 count and Velocity error can be eliminated to the Desired Velocity 0 3 Electronic gear ratio from 1 255 to 255 Built in motion controller for self test with trapezoidal velocity profile Support PUL DIR and CW CCW control signals Opto isolated inputs support single ended and differential signals 10 latest errors self record function Over current ove
29. ecrease Proportional Gain of Position Loop Kp or Integral Gain of Position Loop Kj 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 driver s EEPROM 4 If servo system is OVER DAMPED then decrease Kd or increase Kp or Ki Tel 86 755 26434369 16 Website www leadshine com A Leadshine Technology Co Ltd 6 PC window based Tuning Using ProTuner DCS810V2 Digital DC Servo Driver Manual Rev1 0 Introduction This manual will provide an overview of connection and basic setup instructions for Leadshine s digital servo driver DCS810V2 using the ProTuner software The basic setup of a digital driver is designed to be analogous to the setup and tuning of an analog amplifier These instructions will walk you through the following steps necessary to start up your driver and motor This document is intended for setting up the driver with the ProTuner Software Installation The ProTuner is windows based setup software for tuning Leadshine s digital drivers It can run in windows systems including Win95 Win98 WindowsNT Windows 2000 Windows XP And the selected PC should have 1 serial port at least for communicating with the driver Double click ProTuner_All_Setup_V1 0 exe to begin installing the ProTuner See Figure 6 1 Click Next to enter the License Agreement window See Figure 6 2
30. ference Position Time Figure 5 1 Step and impulse responses As mentioned in previous contents the DCS810V2 is a digital servo driver and its input command is PUL DIR signal In other words step response just exists in each Tel 86 755 26434369 15 Website www leadshine com A Leadshine Technology Co Ltd 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 13 even if the SET POINT is a DCS810V2 Digital DC Servo Driver Manual Rev1 0 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 13 at time 20 Leadshine offer a Windows based setup software ProTuner and a Small servo tuning unit STU optional to its customers for evaluating servo performances STU is for field tuning without PC Tuning servo systems formed by DCS810V2 drivers 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 d
31. gure Com communication interface SaveToDriver Download the current parameter settings to the driver Archives Save the current parameter to a file or read parameter from a file Exit Exit the ProTuner Tel 86 755 26434369 23 Website www leadshine com A Leadshine Technology Co Ltd a DCS810V2 Digital DC Servo Driver Manual Rev1 0 Com Config Window Com Contig Choose Serial Fort Choose Baudrate 30400 Open Figure 6 11 RS232 communication configuration window Serial Port Select the serial communication port to which the driver 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 driver or to upload the stored driver settings into the ProTuner by clicking Tuning gt Position Loop on the menu bar Tuning The user can choose one or two drop down menu s by clicking Tuning including CurrentLoop and PositionLoop CurrentLoop It is used to configure current loop parameters according to different motor In the tuning window User can set Kd Ki and I test Tel 86 755 26434369 24 Website www leadshine com A Leadshine Technology Co Ltd 23 DCS810V2 Digital DC Servo Driver Manual Rev1 0 urrent Tuning x Kp
32. ion Following Error Limit parameter setting in the driver this protection will be activated RED LED will turn on seven Tel 86 755 26434369 46 Website www leadshine com A Leadshine Technology Co Ltd times within each periodic time 5 s DCS810V2 Digital DC Servo Driver Manual Rev1 0 Attention Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to driver Otherwise the driver will be damaged instantly Protection Indications Priority Time s of ON Sequence wave of RED LED Description ON 1 1 fe Over current protection L 5s 2 2 am a Over voltage protection a 4 Phase error protection 4 5 Encoder error protection sth Position following error protection Changing Default Motor Direction The DCS810V2 will turn the motor in the CW direction when the direction input is high logical 1 If instead CCW is preferred then 1 Reverse the motor and motor leads 2 Reverse the encoder Channel A and Channel B leads Tel 86 755 26434369 47 Website www leadshine com A Leadshine Technology Co Ltd Maximum Pulse Input Frequency DCS810V2 Digital DC Servo Driver Manual Rev1 0 Maximum Pulse Input Frequency is the highest frequency that the driver can accept To convert this frequency
33. ive movement Repeat_times The repeat times of positive and negative movement Start Stop button The user can start or stop self test by clicking this button Position Tuning m f 7 o M per TraceTime wWibak Mw yhak I p_bak iv irel Mouret pref TSpecd Par uveseina Figure 6 14 CurveSetting tab In CurveSetting tab the user can choose curves displayed in digital scope of Position Loop Tuning window and DigitalMonitor window and set their Trace Time These curves includes Current Following Error i_err Velocity Following Tel 86 755 26434369 28 Website www leadshine com A Leadshine Technology Co Ltd Error v_err Position Following Error p_err Current Feedback i_bak Velocity Feedback v_bak Position Feedback p_bak Current Command i_ref Velocity Command v_ref Position Command p_ref DCS810V2 Digital DC Servo Driver Manual Rev1 0 i_err Current Following Error The difference between commanded current and the actual measured current v_err Velocity Following Error The difference between commanded velocity and the actual measured velocity p_err Position Following Error The difference between commanded position and the actual measured position i_bak Current Feedback This is the actual measured current in motor coil Ideally this value should be as close as possible to the commanded current v_bak Velocity Feedback This is the actual measured velocity measured by the e
34. ll on your computer The following settings will be used Install folder D Program Files ProTuner All Shortcut folder ProTuner All Please click Next to proceed with the installation Figure 6 6 Installation information summarization Tel 86 755 26434369 20 Website www leadshine com A Leadshine Technology Co Ltd ProTuner All Setup DCS810V2 Digital DC Servo Driver Manual Rev1 0 Installing ProTuner All Please wait Installing Files Seeking TT Figure 6 7 Installing the ProTuner ProTuner All Setup p Installation Successful The ProTuner All 1 0 installation is complete Thank you for choosing ProTuner All Please click Finish to exit this installer Finish Figure 6 8 Finish installation Note Leadshine also offers special version ProTuner which does not need installation Please visit our website www leadshine com for latest ProTuner RS232 Interface Connection Connect the servo system according to chapter Connections and connect the PC to the driver as the following figure Tel 86 755 26434369 21 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 DCS810 1 PC with Protuner 2 STU DCS Small Servo Tuning Unit Digital Servo Driver Special Cable Figure 6 9 RS232 interface connection Testing the servo You may wish to secure the motor so it can t jump off the bench Turn
35. ltage generated by motor coils during motor shaft deceleration The rated voltage of the motor is an important parameter when selecting supply voltage Generally speaking do not use a power supply voltage more than 5 volts of the rated voltage of the motor Higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even driver damage Prepare Controller Prepare a controller with pulse and direction signals However the DCS810V2 has a built in motion controller for self test and Servo Tuning The built in motion controller can generate control signal with trapezoidal velocity profile Tel 86 755 26434369 11 Website www leadshine com A Leadshine Technology Co Ltd System Connections and Noise Prevention DCS810V2 Digital DC Servo Driver Manual Rev1 0 After finishing the above steps you can connect your servo system Before you start make sure that the power is off Connect your system according to connection diagrams before and pay attention to the following tips when wiring Wire Gauge The smaller wire diameter lower gauge the higher impedance Higher impedance wire will broadcast more noise than lower impedance wire Therefore when selecting the wire gauge it is preferable to select lower gauge 1 e larger diameter wire This recommendation becomes more critical as the cable length increases Use the following table to select the appropriate wire size to use in your
36. ncoder Ideally this value should be as close as possible to the commanded velocity p_bak Position Feedback This is the actual measured position measured by the encoder Ideally this value should be as close as possible to the commanded position i ref Current Command This is the commanded current v_ref Velocity Command This is the commanded velocity p_ref Position Command This is the commanded position Trace Time Trace Time This is the trace time of the digital scope Start Stop button The user can start or stop self test by clicking this button Tel 86 755 26434369 29 Website www leadshine com A Leadshine Technology Co Ltd Digital_monitor DCS810V2 Digital DC Servo Driver Manual Rev1 0 Digital Monitor Displays curves and dynamic values of different point of different curves a Digital Monitor BAR m V 1057 r min P 26 pluse T 457 ms Figure 6 15 Digital scope window I Current Displays dynamic values for Current related curve s Dynamic value will change with mouse focus changes Its unit is mA V Velocity Displays dynamic values for Velocity related curve s Dynamic value will change with mouse focus changes Its unit 1s r min P Position Displays dynamic values for Position related curve s Dynamic value will change with mouse focus changes Its unit is pulse count T Time Displays dynamic values for Time Dynamic value will change with mouse focus changes
37. ntial encoder again If you do have to use a single ended encoder please use shielded cables and separate encoder signal cable from interference sources such as motor wires and power wires at least 5 cm Tel 86 755 26434369 10 Website www leadshine com A Leadshine Technology Co Ltd Prepare Power Supply DCS810V2 Digital DC Servo Driver Manual Rev1 0 Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the driver However unregulated power supplies are preferred due to their ability to withstand current surge If regulated power supplies such as most switching supplies are indeed used it is important to have large current output rating to avoid problems like current clamp for example using 4A supply for 3A motor driver operation On the other hand if unregulated supply is used one may use a power supply of lower current rating than that of motor typically 50 70 of motor current The reason is that the driver draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating Selecting Supply Voltage The DCS810V2 can actually operate within 18V to 80VDC including power input fluctuation and back EMF vo
38. oad is stiff enough at standstill when we increase Kp to 1800 and the motor noise vibration can be accepted Position Parameter mA 1004 nmin P 644 p T 178 Kp 500 Position following error 644 Kp f500 Vp 230 CAM_numerator 1 Encoder lines 4000 Kaff 0 vi 0 CAM_denominator 1 eage up down Kd 500 FollowE rrLimit 4000 lV reverse P_parameter_ T Speed par Figure 6 29 Increase Kp to 500 for quick response Position Parameter mA 1004 nmin P 404 p T 176 A p E ER Kp 800 Position following error 404 Kpf800 vp 230 CAM_numerator 1 Encoder lines 4000 Kaff 0 Yi lo CAM_denominator i eage up down kaf500 FollowErrLimit 14000 lV reverse P_parameter_ T Speed par Figure 6 30 Increase Kp to 800 for quick response Tel 86 755 26434369 42 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 Position Parameter mA W993 nmin P 266 p T178 Position following error 266 Kp f1200 Yp 1230 CAM_numerator 1 Encoder lines 4000 Kaff 0 Yi fo CAM_denominator f eage up down Kkaf500 FollowErrLimit 4000 lv reverse P_parameter_ T Speed par Figure 6 31 Increase Kp to 1200 for quick response Position Parameter mA W993 nmin P 178 p T 178 Position following error 178 Kp 11800 Yp 230 CAM_numerator 1 Encoder lines 14000 Kaff 0 Vic fo CAM_denominato
39. omes the new torque set point There are some important differences in the tuning process and application of these two approaches Position around Velocity This mode is most common in contouring application where a position trajectory must be tracked very closely The velocity loop provides additional stiffness and keeps the dynamic position errors minimal since the system now reacts to not just position errors but also velocity errors which can be interpreted as position error changes It is important to start with a stable yet responsive velocity loop Typically it is sufficient to just use the position loop proportional gain Feed forward gain can be added to improve tracking performance i e minimize the difference between commanded and actual position The velocity loop is disabled in current version DCS810V2 and it adopts Position around Current Torque mode Position around Torque This mode is most common in point to point applications where actual motion between start and end point is not very critical In this case velocity loop tuning can be avoided This can be advantageous if the velocity feedback is poor e g low resolution encoder poor encoder quadrature In_this case the tuning process requires that the position loop proportional and derivative gain are increased simultaneously unless the system has sufficient friction in which case no derivative gain is necessary Once a stable response is Tel 86 755
40. onfiguration General information Pulse control signal See more information about PUL in More about PUL DIR EN Signals section ae Pl Pulse control signal I EE DRE Direction control signal See more information about DIR in More about PUL DIR EN Signals section 4 DR Direction control signal I Pa siml lo UO Encoder channel B input I Encoder channel B input I EEE EH Encoder channel A input I E EAS o Encoder channel A input I me ESSV O 6 EGD Positive pole of the auxiliary power supply 50 mA Max Ground of the auxiliary power supply GND Tel 86 755 26434369 4 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 Pin Sid Dap ro ol Moot Motor positive connection O2 Motor Motor negative connection O 3 vDC 18 TO 80VDC power input I a oo Power ground GND Not connected 5V power only for STU O RS232 transmit O Ground GND RS232 receive I Not connected More about PUL DIR EN Signals DIR signal In single pulse mode this signal has low high voltage levels representing two directions of motor rotation set by inside R33 and R37 in double pulse mode this signal is counter clock CCW pulse effective at LOW level the fixed level For reliable motion response DIR signal should be ahead of PUL signal by Sus at least 4 5 V when DIR HIGH 0 0 5V when DI
41. r f eage up down kal500 FollowErrLimit 4000 lv reverse P_parameter_ T Speed par Figure 6 32 Increase Kp to 1800 for quick response Now the system has been basically tuned In the following step the user can increase Kaff to further reduce the position following error if necessary Step 4 Increase Kaff to 5000 and 10000 The position following error reduces to 132 and 86 respectively See figure 6 33 and 6 34 Tel 86 755 26434369 43 Website www leadshine com A Leadshine Technology Co Ltd a DCS810V2 Digital DC Servo Driver Manual Rev1 0 Position Parameter mA 993 nmin P 132 p T 178 Kaff 5000 Position following error 132 Kp f1800 Yp 1230 CAM_numerator 1 Encoder lines 4000 Kaff 15000 Yi lo CAM_denominator f eage up down Kaf500 FollowErrLimit 4000 lv reverse P_parameter T_Speed_par CurveSetting Figure 6 33 Increase Kaff to 5000 for quick response Position Parameter mA 1004 nmin P 86 p T 178 Kaff 10000 Position following error 86 Kp f1800 Yp 1230 CAM_numerator 1 Encoder lines 4000 Kaff 10000 Wi lo CAM_denominator f eage up down Kaf500 FollowErrLimit 4000 lv reverse P_parameter T_Speed_par CurveSetting Figure 6 34 Increase Kaff to 10000 for quick response Remember that tuning the servo is to get satisfying performances getting the best performances of the servo is a time consuming work So if the servo performance c
42. r voltage under voltage phase error encoder error position following error protections Small size surface mount technology Applications Suitable for a wide range of equipments and instruments such as mini type engraving machines jet ink machines etc It performs better 1n equipments desired for low noise high velocity high precision and high reliability Tel 86 755 26434369 2 Website www leadshine com A a e a DCS810V2 Digital DC Servo Driver Manual Rev1 0 2 Specifications and Operating Environment Mechanical Specifications unit mm inch 109 4 295 116 4 570 26 5 1 044 5 0 197 109 4 295 5 0 197 19 5 0 768 69 2 2 726 47 5 1 872 Figure 2 1 Mechanical specifications Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F It is recommended to mount the driver vertically to maximize heat sink area Electrical Specifications T 25 C 77F Tel 86 755 26434369 3 Website www leadshine com A Leadshine Technology Co Ltd Operating Environment and Parameters DCS810V2 Digital DC Servo Driver Manual Rev1 0 Avoid dust oil fog and corrosive gases Environment Ambient Temperature 0C 50 C 32 F 122 F Humidity 40 RH 90 RH Vibration 5 9 m s Max Approx 210 grams 7 41 oz 3 Connections Connector C
43. rdoia a euatledl 33 FPosinonmaroond Torue ea a E ee 33 Current Loop Tuning Example ccccccccccccccccccceeessssssseseeeeeeceeeeeeeeeeeaaas 34 Velocity and Position Loop Tuning rero N 39 Ts Usm io topeerpeemmrcerrreenccererrneceaerpen aseerinen rane seer ae iat nia earner ear ere marry sentra tier nrc 45 Sequence Chart of Comtrol Signals sscince cc 202 casecnsenessaessseseasiecedacebancasss wecaerennens 45 Protection PUNCIIONS sereen A 45 Tel 86 755 26434369 Il Website www leadshine com Contents Overcurrent Polec Oi eee ee eee ee 46 OVER OllaSS PrOle COM ocsssasseasasscnonsenedecosnsasnensanasensenatnendonespeadasednensanatnes 46 Phase Error Protec UO seses nenori ieioea Nor Eear 46 Encoder Liror a 6 e616 een eee ee ee ene er eee ne ee ee a EEN 46 Position Following Error Protection cccccccccccscsssssssssessseeeeeeeeeseeeeenaas 46 Protechon I CANAO 1c scere en enneren nnee ENEE E EEEE NASENNE NEVERNE 47 Changing Detault Motor Direction suvesussidesannticousanadtovennsdiwessbadiauaaetdbensnbadipesessates 47 Maximum Pulse Input Frequency sssssosooeeeneeesssssssssssssseeeereresssssssssssssseeeereee 48 ETOT E oe E E A E E NA N 48 L addati romi ileto Drive ocecacesasssnaaceessscasasasesacenenaansessdecensenpoossepetwsatansdtannceaters 49 APPENDIX seas cass aa TE 1 TWELVE MONTH LIMITED WARRANTY nnnnnnsssssssssssseeseresnsssssssssssseeerereee 1 POCELE TON aA AR A A EEA 1 OBTAINING WARRANTY SERVICE
44. reasing Vp Figure 6 28 shows the velocity The green curve and position following error The blue curve And we can see the current position following error is 1074 at the top of the digital scope Tip The digital scope displays actual velocity the green curve and position following error The blue curve as shown in figure 6 28 It is the result of the trapezoidal velocity test by clicking Start button Click the button once again to hold on the curves The button caption is Start Otherwise the scope will be always updated The button is Stop The user can put the mouse cursor on the curve to check the curve point value at the top status bar Actual Velocity Time Actual Current Following Error Position Parameter m 1004 nmin P 1074 Green Curve Actual Velocity Blue Curve Position Following Error Kp 300 Position following error 1074 Kp 1300 Yp 230 CAM_numerator 1 Encoder lines 14000 Kaff 0 vi 10 CAM_denominator 1 eage up down Kd 500 Follow rrLimit 4000 lv reverse P_parameter Figure 6 28 Digital scope for position velocity loop tuning Tel 86 755 26434369 41 Website www leadshine com A Leadshine Technology Co Ltd Step 3 Increase Kp to maximize the system stiffness until motor noise vibration DCS810V2 Digital DC Servo Driver Manual Rev1 0 begins following the same way as Vp See figure 6 29 6 30 6 31 and 6 32 The motor shaft or l
45. ressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited Tel 86 755 26434369 1 Web site www leadshine com A Leadshine Technology Co Ltd to the 12 month duration of this written warranty DCS810V2 Digital DC Servo Driver Manual Rev1 0 SHIPPING FAILED PRODUCT If your product should fail during the warranty period e mail customer service at tech leadshine com to obtain a returned material authorization number RMA before returning product for service Please include a written description of the problem along with contact name and address Send failed product to distributor in your area or Leadshine Technology Co Ltd Floor 3 Block 2 Tianan Industrial Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure Tel 86 755 26434369 2 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2643 4369 for All 86 755 2641
46. target current and the green one is actual current There is large gap between them in the scope It indicates that a large Kp need to be introduced See figure 6 21 Current Tuning Kp 500 Ki lo I test f Figure 6 21 Current loop tuning with Kp 500 Ki 0 Step 3 Increase Kp to 1000 and click Start The gap between target value and actual value is smaller but a higher Kp is needed See figure 6 22 Kp 1000 Ki lo I test f Start Figure 6 22 Current loop tuning with with Kp 1000 Ki 0 Step 3 Give Kp 2000 3000 4000 5000 and click Start respectively The green curve is getting more and more close to the red curve See figure 6 23 Over shoot begins when we increase Kp to 5000 It indicates that you need to stop increasing Tel 86 755 26434369 36 Website www leadshine com A Leadshine Technology Co Ltd Kp and back off Our purpose is to make the green curve the actual current a little higher than the red curve the target So we decrease Kp to 4500 4200 and until the actual value is exactly over the target value DCS810V2 Digital DC Servo Driver Manual Rev1 0 t Kp 2000 Ki 0 t Kp 3000 Ki 0 t Kp 4000 Ki 0 Kp 4500 Ki 0 Kp 4200 Ki 0 t Kp 5000 Ki 0 Figure 6 23 Current loop tuning with with Ki 0 and increasing Kp Step 4 Now Kp is relative good enough But there is still gap between the green curve and the red curve when we use the mouse
47. the current loop parameter But if other brand motor is selected please contact Leadshine for the password for current loop tuning Below is an example to show the tuning procedure of current loop based on Leadshine DCM50207D 1000 See Figure 6 19 for connection information and other necessary component DCM50207D 1000 specification 0 35Nm 2900RPM Phase resistance 0 90Ohm Phase Inductance 1 6mH Encoder Lines 1000 Tel 86 755 26434369 34 Website www leadshine com A Leadshine Technology Co Ltd DCS810V2 Digital DC Servo Driver Manual Rev1 0 Use USB to RS232 adapter if no PC RS232 Serial port AE y ly Mero g G PC with RS232 Serial port PWR ALARM G Special RS232 cable Leadshine RS232 tt MY PUL PUL DIR DIR ENA ENA pcss10 Yellow Motor Motor VDC GND 40VDC F Leaushine sPs4o7 L N E GND PPPS Figure 6 19 Connections in tuning example Step 1 See figure 6 20 Set I test 1 and begin the tuning with small Kp and zero Ki Here we give Kp 500 Please hit the Enter key after entering in the number Kp 500 Ki lo I test f Start Figure 6 20 Initial value for Kp Ki and I test for current loop tuning Tel 86 755 26434369 35 Website www leadshine com A Leadshine Technology Co Ltd Step 2 Click the Start button and the plot window will show two curves The red DCS810V2 Digital DC Servo Driver Manual Rev1 0 one is
48. to RPM use the following formula Max Pulse Input Frequence x60 z CAM _numerator RPM max te aia N CAM _ denominator Encoder Line Count x4 Save data to a file The ProTuner offers a tool to save parameter to a file It is very useful when building machines with the same motors and other components Select Option gt Archives the archives window will appear as figure 7 2 To save the current parameter to a file type in the path and file name in the edit box and then click ToDisk button See figure 7 2 for more detail a Archives SDMBS3 exe EJDA ES Program Files ga Prov uner All C3 Uninstall ACSBUB_TEST1 ACS SUB exe asyctilt dll COMCAT OLL LCOMDLG 32 00 DCS 303 exe DCS81 OY exe DCS810V 2 exe DCS8102 Contig DESIO Confighie OM42eC exe D Program Files ProT uner AINDCS81 02 ConfighO4 ToLtisk ToDevice Type in path and file name Figure 7 2 Save parameter to a file Tel 86 755 26434369 48 Website www leadshine com A Leadshine Technology Co Ltd Load data from file to Drive DCS810V2 Digital DC Servo Driver Manual Rev1 0 When communication between the ProTuner and the ACS806 is established you can open a configuration file then download the data from the file to the drive See figure 7 3 for more detail a Archives SDMBG3 exe ADA 5 J Program Files ACSEOB TESTI ga Prov uner ll ACS SUB exe 9 Uninstall Select a configure file in the DCSS1 OV exe
49. to zoom in it as shown in figure 6 24 There is also big vibration which will cause motor noise on the green curve So we need to introduce Ki the integral gain to reduce the gap or steady error at the constant part It follows the same procedure as Kp Too high Ki will causes big vibration system lag and makes the performance worse See figure 6 24 for this procedure Increase Ki until the gap can be accepted and not causes much vibration Step 5 The current loop tuning is basically finished You can continue to adjust Kp and Ki for better performance Now the updated Kp and Ki is just stored in the driver s RAM They will be lost when we power off the driver Please click Option gt SaveToDriver to store the changed value to the driver s EEPROM Tel 86 755 26434369 37 Website www leadshine com A Leadshine Technology Co Ltd a DCS810V2 Digital DC Servo Driver Manual Rev1 0 Current Tuning Kp 4200 Ki lo test ii Start Figure 6 23 Drag a rectangle to zoom in the steady error Kp 4200 Ki 200 rh vy a aul Kp 4200 t Ki 800 i 1 Kp 4200 t Ki 1500 Kp 4200 t Ki 2500 Figure 6 24 Current loop tuning with Kp 4200 and increasing Ki Tel 86 755 26434369 38 Website www leadshine com A Leadshine Technology Co Ltd 23 DCS810V2 Digital DC Servo Driver Manual Rev1 0 Velocity and Position Loop Tuning Before trying to manage the velo
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