Software Operational Manual
Contents
1. 2012 04 01 Original Create SM DM R20120401 iii Table of Contents Tor orCon eNEAN E TE 111 bolli INES iii 1 MEUS elia 1 Vne theS0 Marine ROTTI a a rt 2 Conn Direi ai 2 Current Eoop Lunne Window Lalla 3 Connsuranons Windows aaacasa 4 IppurOupurSetimes tard A AA A aaa 5 ANUFICSONAnNce Semeraro 6 BultanContollertor sele ita 8 Aoi DP o UA iii 9 ConnsureInpitrOutpifSeimos lhi 9 Current Coop luni acacia 10 An tesonance MNN heat 16 Adjusoms Electron LAT 10S ala 17 Conoc Uoer E lilla 18 e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Introduction The ProTuner is a software tool designed to configure and tune the Leadshine digital stepper drive DM1182 The user can configure the drive s output current micro step command type tune the current loop and adjust the anti resonance parameters in this software Workspace Leadshine ProIuner for DE1182 Communication Drive Help Menu Toolbar Configurations Build in Controller for Test Use the slider below to change your test speed It will be automatically displayed in Speed text box w Motor Moving Direction Interval Ti SECON A Dia ame et 50 E Positive and Negative IV Positive Repeat Time 5 Distance r fi 0 Input Output Settings Anti Resonance Settings Output Settings Configuration Dut Current 4 FE 60 Mirco Step fe Electrical Damping 300 Window Idle Current 2 50 Idle Start Time ms 20002. 13 Kit 1 Digital Stepper Drive DM1182 Software Operational Manual Test Current 4 1 Current Loop Manual Tuning Zero Integral Gain Kp 1200 Ki 1 t Integral Gain Kp 1200 Ki 100 t Integral Gain Kp 1200 Ki 150 14 e Leadshine Digital Stepper Drive DM1182 Software Operational Manual 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 Don t forget to click Drive gt Download To Drive to store the changed value to the drive s nonvolatile memory Current Loop Further Adjustment Kp 1250 Ki 200 Test Current 4 Current Loop Save all the changes to the drive s Configurations non violated nonvolatile memory Download he o Drive Reset 15 e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Anti resonance Tuning Confizurations Build in Controller for Test Use the slider below to change your test speed twill be automatically displayed in Speed text box Speed ros Interval Time mz i Ups i Positive and Negative iw Positive Repeat Time Distance r LEA Input Output Settings Anti Resonance Settings Ant Resonance rea 1 Ampitude 1 1524 Phase 1 179 Anti Resonance rea 2 Ampitude 2 0 Phase 0 ee Anti Hesonance
3. Input Settings cinputMode____ _ Active Edge PUL DIR Rising Falling Alarm Signal HM r Direction Change Active Low Active High Low High Status Ready Leadshine Technology Co Ltd Date 2012 4 1 Time M 16 42 Menus and Toolbar Menus and toolbars are at the top of the workspace You can click menu bar to view the pull down menu The toolbar below offers the most frequency used commands e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Menu Pull Down Toolbar Function Communication Connect to Drive Open the serial port and connect to drive gt Exit Exit from ProTuner Tune the current loop parameter to make the Current Loop Ad drive match to the stepper motor Set the command type active edge level of the Configurations Q VO signal micro step resolution idle current and Drive gt 1 adjust the anti resonance parameters l Download data to the drive s nonvolatile Download to Drive memory Reset Restore all factory parameters User Manual on Web Click to view DM1182 user manual About gt Software Manual on Web Click to view DM1182 operational manual About Leadshine ProTuner Software information Using the Software Connecting Drive Connect to Drive Connect to Drive Please select the correct serial port to connect the drive Please select the corect serial port to connect the drive to pour computer
4. Software Operational Manual Digital Stepper Drive DM1182 Configurations Build in Controller for Test Use the slider below to change your test speed It willbe automatically displayed in speed text box Motor Moving Direction Interval Ti SN GEE ti O e Positive and Negative e Positive Repeat Time E Distance r fio Input Output Settings Ant Fesonance Settings Output Settings Out Current A 5 60 Mirco Step 2 Electrical Damping 300 Idle Current 50 Idle Start Time ms 2000 Input Settings Input Mode f PUL DIF Falling Alarm Signal Direction Change Active Low Active High fe Low www leadshine com ll 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 2012 by Leadshine Technology All Rights Reserved Change Log
5. Manual Tuning The gap between target value and actual value is smaller but a higher Kp is still needed Current Loop t Proportional Gain Kp 700 Ki 1 Test Current 4 1 Step 3 Give Kp 900 1100 1300 and click Manual Tuning respectively The green curve is getting more and more close to the red curve Over shoot is obvious when we increase Kp to 1300 It indicates that you need to stop increasing Kp and back off Our purpose 1s to make the green curve the actual current a little higher than the red curve the target So we decrease Kp to 1200 until the actual value is exactly over the target value Current Loop t Proportional Gain Kp 900 Ki 1 Test Current 4 1 11 Current Loop i Manual Tunin Current Loop Digital Stepper Drive DM1182 Software Operational Manual t Proportional Gain Kp 1100 Ki 1 t Proportional Gain Kp 1300 Ki 1 12 Digital Stepper Drive DM1182 Software Operational Manual Proportional Gain Kp 1200 Ki 1 Step 4 Now the Kp is relatively good enough But there is still gap between the green curve and the red curve when we use the mouse to zoom in the green curve So we need to introduce Ki to reduce the gap or steady error at the constant part It follows the same procedure as Kp High Ki causes big vibration system lag and makes the performance worse The following figures show how to tune the integral gain Current Loop Manual Tuning
6. below to change your test speed twill be automatically displayed in Speec Motor Moving Direction Speed as Interval Time ms H irs U iw Positive and Negative lw Positive a Sat Input Qutput Settings Ant Resonance Area 1 Ampitude 1 1524 a Phase 1 179 ee OI Anti Hesonance rea 2 Ampitude 2 Jo Phase 0 _ S SS I AZ 3 eo Anti Resonance Area 3 Ampitude 3 128 ES Pr Phase 3 126 You can adjust the anti resonance parameters in this window The built in controller can be assist anti resonance tuning and self test Item Description Range Anti Resonance Area 1 It is usually between 0 6 to 1 2 RPS Leadshine Digital Stepper Drive DM1182 Software Operational Manual Amplitude adjustment for the 1 anti resonance area The user can enter a Amplitude 1 value directly in the text box or move the slider bar back and forth to get 0 3500 an optimum value Phase adjustment for the 1 anti resonance area The user can enter a Phase 1 value directly in the text box or move the slider bar back and forth to get 0 1608 an optimum value Anti Resonance Area 2 It is usually between 1 2 to 2 4 RPS Amplitude adjustment for the 2 anti resonance area The user can enter a Amplitude 2 value directly in the text box or move the slider bar back and forth to get 0 3500 an optimum value Phase adjustment for the 2 anti resonance area The user can enter a Phase 2 value directly in the
7. text box or move the slider bar back and forth to get 0 1608 an optimum value Anti Resonance Area 3 It is usually between 2 4 to 4 8 RPS Amplitude adjustment for the 3 anti resonance area The user can enter a Amplitude 3 value directly in the text box or move the slider bar back and forth to get 0 256 an optimum value Phase adjustment for the 3 anti resonance area The user can enter a Phase 3 value directly in the text box or move the slider bar back and forth to get 0 256 an optimum value e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Built in Controller for Self test If there is no pulse generator or motion controller in hand you can use the built in controller to make the motor move Note that it can only offer simple motion and does not represent the actual performance of using a motion controller Item Description Range Speed Display the current speed when you move the slider 0 20 RPS Acceleration Acceleration of Built in Controller Unit Revolution S 1 500 Distance Moving distance Unit Revolution 1 655 Interval Time Interval between the positive and negative move Unit millisecond 1 10000 Repeat Repeat times 1 65535 If it is positive the motor moves only in positive direction If it is Motor Moving Direction positive and negative the motor moves in both positive and negative direction Start Click to start the motion e Leadshine Digital Stepper Drive DM1182 Soft
8. ck 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 86 755 2641 8774 86 755 2641 0546 Fax 86 755 2640 2718 Email tech leadshine com for All 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 salesO leadshineUSA com and support leadshineUSA com Digital Stepper Drive DM1182 Software Operational Manual 18
9. e 2 DIP switch must be in Default mode SW4 on SW5 on SW6 on SW7 on to allow Micro Step change High resolution Micro Step makes the motor move more smoothly Low Micro Step resolution reduces the high frequency requirement to the controller See the DM drives hardware installation manual for more information for how to select the Micro Step e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Current Loop Tuning The current loop of DM1182 needs to be tuned for the best performance of DM1182r The factory value may not suitable for the driven motor Incorrect value may cause low motor torque or motor stall or high motor noise Below is the tuning procedure based a 8 5Nm motor with 110VAC power input IN Before trying to tune the current loop parameters don t forget connect the motor to the drive Step 1 Set Test Current 1 and start the tuning with small Kp and zero Ki Here we set Kp 300 and Ki 1 Current Loop Initial Value Kp 300 Ki 1 Kp 200 Ki 7 Test Current 4 1 Step 2 Click the Manual Tuning button and the plot window will show two curves The red curve is target current and the green curve is actual current There is large gap between them in the scope It indicates that a large Kp needs to be introduced Current Loop Start Test Kp 500 Ki 1 10 e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Step 3 Increase Kp to 700 and click
10. e the motor at its peak resonance making it more difficult to find proper adjustment values Optimum 16 e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Amplitude and Phase values may be a little different between running the tests with an unloaded motor and a load motor Step 3 Keep the motor running at the resonance speed and verify the motor smoothness You may find a better smoothing value by slightly moving the slider bars of A mplitude and Phase back and forth If the motor speed is 0 6 1 2RPS you should tune the Amplitude and Phase at the resonance area 1 The resonance area 2 is 1 2 2 4 RPS and the resonance area 3 is 2 4 4 8 RPS For example we find a resonance speed at 0 98 rps We begin to move the Amplitude 1 slider forth and the motor vibration and noise became lower and lower Finally we find the move is the smoothest when Amplitude 1 is 3300 The motor vibration and noise increase if Amplitude 1 exceeds 3300 Then we follow the same procedure to search the best point for Phase 1 See Figure 26 Anti resonance tuning is done Step 4 Click Drive gt Download To Drive to save all the parameters to nonvolatile memory Adjusting Electronic Damping The factory setting for the electronic damping is 300 If the motor is easily stalled and generates odd noise at middle speed you can try other values such as 500 1500 2000 2500 17 e Leadshine Contact Us China Headquarters Address 3 F Blo
11. motor Note The DIP switch setting must be in Default mode as follows to Micro Step 1 512 allow Micro Step change SW4 on SW5 on SW6 on SW7 on Idle current percentage when there is no pulse sent to the drive Idle Current It is only active when SW4 is OFF When SW4 is on the motor 10 100 current keep as Out Current after motor stop The time when there is no pulse applied to the drive The drive goes Idle Start Time l 1 5S into idle state after this time Ignore it if SW4 is on Adjust this parameter to improve the drive s high speed performance Electronic Damping 1 6000 The optimal value depends on the system Command type or pulse input mode of control signal PUL DIR PUL DIR Input Mode means pulse and direction mode CW CCW means double pulses CW CCW mode Pulse active edge The motor shaft moves one micro step for each Rising Active Edge active edge Fallin g e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Change the motor direction It is only active in PUL DIR command High Positive Direction Change mode Please note that the actual direction is also related to the l l Low Negative motor coil connection Set active impedance for the alarm fault signal Active High means l Active Low Alarm Signal high output impedance and Active Low means low output l l Active High impedance Anti resonance Settings tab Configurations Build in Controller for Test Use the slider
12. ng 300 Idle Current 50 Idle Start Time me 12000 Input Settings Input Hode Active Edge PULDIA f Rising Falling Alarm Signal Direction Change Active Low f Active High f Low e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Click Drive gt Configurations to open the Configuration window This window includes Built in Motion Controller for self test the Input Output Settings tab and the Anti resonance Settings tab You can make the motor move by the built in motion controller In the Input Output Settings Tab you can set Output Current Micro Step Idle Current Electronic Damping Command Type and active level edge of VO signals In the Anti resonance Settings tab you can adjust the anti resonance parameters to reduce the motor vibration noise Input Output Settings tab You can set Output Current Micro Step Idle Current Electronic Damping Command Type and active level edge of I O signals 1 DIP switch must be in Default mode SW1 off SW2 off SW3 off to allow current change 2 DIP switch must be in Default mode SW4 on SW5 on SW6 on SW7 on to allow Micro Step change Item Description Range Drive s output current for the motor It should be less than 1 4 times of the motor s related current l 0 5 7 8 A Out Current Note The DIP switch setting must be in default mode as follows to allow current change SW1 off SW2 off SW3 off Drive s Micro Step setting for the
13. rea 3 Ampitude 3 120 Phase 3 129 Stepper motors are highly resonant which results in vibration and ringing The ringing utilizes a large fraction of the motor s available torque thereby wasting performance Furthermore at mid range velocities the resonance can become so severe that the motor looses synchronization and stalls The EM drive provides robust anti resonance control to stop the vibrations and maintain equilibrium This feature requires that the drive be configured with respect to the total inertia in the system If set improperly the effectiveness of the feature may be diminished 1 For most of the application it is not needed to tune anti resonance parameters We only recommend the advance user IN to use this function as it is a boring process 2 In most of the case only the tuning of the anti resonance area and 2 has obvious effect Step 1 Start the motion test by clicking Start Stop button Find a resonance speed by slightly moving the slider bar of internal pulse generator back and forth You can also use the arrow keys to adjust the speed precisely Step 2 Run the motor at the resonance speed and verify the motor smoothness You may find a better smoothing value by slightly moving the slider bars of Amplitude and Phase back and forth It is very important to make the Amplitude and Phase adjustments at the proper test speeds with an unloaded motor Running at an incorrect test speed will not excit
14. tem doesn t oscillate has low stiffness and iia Proportional Gain large current error causing poor performances in tracking current setting command in each step Too large Proportional Gain values will cause oscillations and unstable systems e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Adjust Ki to reduce the steady error Integral Gain helps the drive to overcome static current errors A low or zero value for the Integral Gain Ki may have current errors at rest Increasing the Integral Gain can reduce 1 65535 Integral Gain the error If the Integral Gain is too large the systems may hunt oscillate about the desired position The current amplitude for the step response Let this value not exceed Test Current l l 0 5 5 0A the maximum output current of the drive Enter Kp and Ki and click this button to activate the test A target curve Manual Tuning red and an actual curve green will be displayed on the screen for user analysis Click this button to activate auto configuration The Kp and Ki will be Auto configuration l tuned automatically Configurations Window Configurations Build in Controller for Test Motor Moving Direction Speed ros Interval Time me i PS Iw Positive and Negative Iw Positive Repeat Time E Distance r i 0 Input Quiput Settings Ant Resonance Settings Output Settings Out Current 4 5 60 Mirco Step 2 Electrical D ampi
15. to pour computer Serial Fort COM senal Port Connect to Drive window appears every time you open ProTuner You can also open it by clicking Conmmunication gt Connect To Drive when the software is open Select the serial port and click on the Connect button The software will try to connect to the drive and read the settings It may take several minutes Please wait e Leadshine Digital Stepper Drive DM1182 Software Operational Manual Before connecting the drive please make sure 1 The RS232 cable has been connected between the drive and PC serial port 2 Power has been applied to the drive and the green LED is turned on The motor is no need to connect to the drive if you just want to change the parameters but not tuning IN Do not connect or disconnect serial cable when drive is powered The drive s communication circuit may be damaged Current Loop Tuning Window Current Loop Red Curve Target Current of Step Test OO P Curve Actual Current of Step Test Kp 1170 KI 635 Test Current 4 7 Click Drive gt Current Loop to open the current loop tuning window You can adjust the Kp proportional gain and Ki integral gain in this window These parameters should be tuned before normal operation Item Description Range Increase Kp to make current rise fast Proportional Gain determines the response of the drive to current setting command Low Proportional Kp Gain provides a stable sys
16. ware Operational Manual Configuring the Drive If it is the first time setup you can follow the steps below to configure the drive 1 Configure Input Output settings like output current micro step and input mode according to the motor and application 2 Tune the current loop parameters Kp proportional gain and Ki integral gain with the connected motor 3 Tune the anti resonance parameters to reduce motor vibration noise if necessary 4 Adjust the electronic damping when the high speed performance is not good IN The motor must be connected to the drive before trying to configure the drive Configure Input Output Settings Click Drive gt Configuration to open the Configuration window You can configure the input and output settings in the Input Output Setting tab InputfOutput Settings Ant Resonance Settings Output settings Out Current 4 5 60 Mirco Step 2 Electrical D amping 300 Idle Current 50 Idle Start Time mg 12000 Input Settings Input Hode Actwe Edge le PUL DIR f Rising Falling Alarm Signal Direction Change Active Low l Active High f Low In most application it is only required to the output current micro step and input mode Usually the motor manufacturer states the RMS root mean square current in datasheet Please refer to the hardware installation manual for how to set the output current 1 DIP switch must be in Default mode SW1 off SW2 off SW3 off to allow current chang
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