Leadshine Technology DCS810V2 User manual

User sManual
For
DCS810V2
DigitalDC ServoDriver
Revision 1.0
2009All RightsReserved
Attention:Pleaseread thismanual carefullybeforeusingthe driver!
3/F, Block 2, NanyouTiananIndustrialPark, NanshanDist, Shenzhen, China
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Contents
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TableofContents
1. Introduction, FeaturesandApplications..................................................................1
Introduction..........................................................................................................1
Features................................................................................................................1
Applications.........................................................................................................2
2. SpecificationsandOperating Environment.............................................................3
MechanicalSpecifications....................................................................................3
EliminationofHeat..............................................................................................3
ElectricalSpecifications.......................................................................................3
OperatingEnvironmentandParameters...............................................................4
3. Connections.............................................................................................................4
ConnectorConfiguration......................................................................................4
Generalinformation....................................................................................4
MoreaboutPUL/DIR/ENSignals...............................................................5
PUL/DIRandCW/CCWModeSettings.....................................................6
ControlSignalConnections..................................................................................6
EncoderConnections............................................................................................8
RS232 Interface Connection.................................................................................9
TypicalConnections.............................................................................................9
4. ServoSetup...........................................................................................................10
Install Encoder....................................................................................................10
PreparePowerSupply........................................................................................11
RegulatedorUnregulatedPowerSupply..................................................11
SelectingSupplyVoltage...........................................................................11
PrepareController..............................................................................................11
SystemConnectionsandNoisePrevention........................................................12
WireGauge................................................................................................12
Contents
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CableRouting...........................................................................................12
Twisted Wires............................................................................................12
CableShielding.........................................................................................13
SystemGrounding.....................................................................................13
PowerSupplyConnection.........................................................................13
5. Tuningtheservo....................................................................................................14
Testingtheservo.................................................................................................14
TuningtheServo................................................................................................15
6. PCwindowbasedTuningUsingProTuner...........................................................17
Introduction........................................................................................................17
SoftwareInstallation..........................................................................................17
RS232 Interface Connection..............................................................................21
Testingtheservo.................................................................................................22
SoftwareIntroduction.........................................................................................23
ProTunerMain Window............................................................................23
ComConfig Window................................................................................24
Tuning.......................................................................................................24
Digital_monitor.........................................................................................30
Err_check..................................................................................................30
About.........................................................................................................32
ServoTuning......................................................................................................33
Position LoopIntroduction.......................................................................33
Position aroundVelocity...........................................................................33
Position aroundTorque.............................................................................33
CurrentLoopTuningExample..................................................................34
VelocityandPositionLoopTuning...........................................................39
7. UsingTips.............................................................................................................45
SequenceChartofControlSignals....................................................................45
ProtectionFunctions...........................................................................................45

Contents
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Over-currentProtection.............................................................................46
Over-voltageProtection............................................................................46
PhaseErrorProtection...............................................................................46
EncoderErrorProtection...........................................................................46
Position FollowingErrorProtection..........................................................46
ProtectionIndications................................................................................47
ChangingDefault MotorDirection....................................................................47
MaximumPulseInputFrequency......................................................................48
Savedatatoafile...............................................................................................48
LoaddatafromfiletoDrive...............................................................................49
APPENDIX.................................................................................................................1
TWELVEMONTHLIMITEDWARRANTY.....................................................1
EXCLUSIONS.....................................................................................................1
OBTAINING WARRANTYSERVICE...............................................................1
WARRANTYLIMITATIONS..............................................................................1
SHIPPING FAILEDPRODUCT..........................................................................2
ContactUs...................................................................................................................3
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1. Introduction, Features and Applications
Introduction
TheDCS810V2isadigitalDCservodriverdevelopedwithDSPandhigh efficient
MOSFETtechnologies.Inposition control,it seasyfortheenduserstochange
steppingdriverstotheDCS810V2withoutchangingcontrolsystems,becauseits
inputcommandisPUL/DIRsignal,whichiscompatiblewiththatofstepping
drivers.Inlowpowermotion controlapplications,performancesofDCservo
systemsusingtheDCS810V2arebetterthanthoseofdigitalACservosystemsin
velocity,precision,noise,stability,oratleastasgoodasthoseofdigitalACservo
systems.However,thecostoftheDCS810V2staysattheprice lineofstepping
driver, namelyfarlowerthanthoseofACservodrivers.
ComparedtotheDB810-50V,theDCS810V2canacceptdifferentialcontrolsignals
and differentialencoderfeedbacksignals,offeringbetteranti-interference
performances.MeanwhiletheDCS810V2hashigherMaxPulseInputFrequency,
hence candriveafastermotororchooseahigheraccuracyencoderforagivenmotor.
What'smore,broaderinputvoltagerangemakestheDCS810V2candrivebroader
rangeofservomotors.ComparedtotheDB810A,parametervisibletuningtools
maketheDCS810V2mucheasiertotune.ComparedtoDCS810V1, anextra
velocityloopisbuilt toDCS810V2 forbettermotorcontrolandflexibletuning.
TheDCS810V2isveryeasytotuneand all parametersarevisible.Parametervisible
tuningtools,includingProTuner(Windowsbasedsetupsoftware)andSTU(Small
servotuning unit)canmeetdifferenttuningenvironmentsorrequirements.
Features
l18-80VDC, 0-20A, 20-400W.
lBasedonDSPcontroltechnologyand highsmoothservocontrolalgorithm.

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lParametervisibletuningtools, includingProTuner, EZTunerandSTU.
lFeedbackresolution ×4 encoderlinecount.
lPosition Followingerrorlockrangeadjustable
lPosition errorcanbeeliminatedto1count,andVelocityerrorcanbe
eliminatedtotheDesiredVelocity* ±0.3%
lElectronicgearratiofrom1/255 to255
lBuilt-inmotioncontrollerforself-testwithtrapezoidalvelocityprofile
lSupportPUL/DIRandCW/CCWcontrolsignals
lOpto-isolatedinputs, supportsingle-endedanddifferentialsignals
l10 latesterrorsself-recordfunction
lOver-current,over-voltage,under-voltage,phaseerror,encodererror,position
followingerrorprotections
lSmall size, surface-mounttechnology
Applications
Suitableforawiderangeofequipmentsandinstrumentssuchasminitype
engravingmachines,jet-inkmachines,etc.Itperformsbetterinequipmentsdesired
forlownoise,high velocity,highprecision and highreliability.
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2.Specifications andOperatingEnvironment
MechanicalSpecifications (unit:mm[inch])
Figure2-1:Mechanicalspecifications
EliminationofHeat
lDriver sreliableworkingtemperatureshouldbe<70 (158 ),and motor
workingtemperatureshouldbe<80 (176 );
lItisrecommendedtomountthedriververticallytomaximizeheatsinkarea.
ElectricalSpecifications(Tj =25 /77℉)
DCS810V2
Parameters Min. Typical Max. Unit
Peakoutputcurrent 0 - 20 A
Supplyvoltage +18 - +80 VDC
Logicsignalcurrent 7 10 15 mA
Pulseinputfrequency 0 - 500 KHz
Isolationresistance 500 MΩ
Currentprovidedtoencoder 50 mA

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OperatingEnvironmentand Parameters
Cooling Natural coolingorforcedcooling
Environment Avoiddust, oil fog andcorrosivegases
AmbientTemperature
0－50 (32 －122 )
Humidity 40%RH－90%RH
OperatingEnvironment
Vibration 5.9m/s2Max
StorageTemperature -20 －65 (-4 －149 )
Weight Approx. 210grams(7.41oz)
3.Connections
ConnectorConfiguration
Generalinformation
Control SignalConnector
Pin Signal Description I/O
1 PUL+ Pulsecontrolsignal(+).See moreinformationaboutPULin “More
aboutPUL/DIR/ENSignals”section. I
2 PUL- Pulse controlsignal(-). I
3 DIR+ Direction controlsignal(+).See moreinformationaboutDIRin
“More aboutPUL/DIR/ENSignals”section. I
4 DIR- Direction controlsignal(-). I
5 EN+ Enable controlsignal(+). I
6 EN- Enable controlsignal(-). I
EncoderSignalConnector
Pin Signal Description I/O
1 EB+ EncoderchannelB (+)input. I
2 EB- EncoderchannelB (-) input. I
3 EA+ EncoderchannelA(+)input. I
4 EA- EncoderchannelA(-) input. I
5 E+5V Positive pole ofthe auxiliarypowersupply(50 mA(Max)). O
6 EGND Groundofthe auxiliarypowersupply. GND
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PowerConnector
Pin Signal Description I/O
1 Motor+ Motorpositive connection. O
2 Motor- Motornegative connection. O
3 +VDC +18 TO80VDCpowerinput. I
4 GND Powerground. GND
RS232 CommunicationConnector
Pin Signal Description I/O
1 NC Notconnected. -
2 +5V +5VpoweronlyforSTU. O
3 TxD RS232 transmit. O
4 GND Ground. GND
5 RxD RS232 receive. I
6 NC Notconnected. -
MoreaboutPUL/DIR/ENSignals
PinFunction Details
PUL+
PUL-
Pulsesignal: Insinglepulse(pulse/direction)mode,thisinputrepresents
pulsesignal;4-5VwhenPUL-HIGH,0-0.5VwhenPUL-LOW.Indouble
pulsemode(pulse/pulse),thisinputrepresentsclockwise(CW)pulse，
effectiveatLOWlevel(thefixedlevel).Forreliableresponse,pulsewidth
shouldbelongerthan1.0μs.Seriesconnectresistorsforcurrent-limiting
whenusing+12Vor+24Vcontrolsignals.
DIR+
DIR-
DIRsignal: Insingle-pulsemode,thissignalhaslow/high voltagelevels,
representingtwodirectionsofmotorrotation(setbyinsideR33andR37);in
double-pulsemode,thissignaliscounter-clock(CCW)pulse，effectiveat
LOWlevel(thefixedlevel).Forreliablemotionresponse,DIRsignalshould
beaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,0-0.5Vwhen
DIR-LOW.Pleasenotethatmotiondirection isalsorelatedtomotor-driver
wiringandencoderfeedbackA/Bphasesignals.Exchangingtheconnections
oftwowiresofthemotortothedriverandA/Bphasesignalsofencoderwill
reversemotiondirection.
EN+
EN-
Enablesignal: Thissignalisusedforenabling/disablingthedriver.High
level(NPNcontrolsignal,PNPand Differentialcontrolsignalsareonthe
contrary,namelyLowlevelforenabling.)forenablingthedriverand low
levelfordisablingthedriver.Usuallyleft UNCONNECTED(ENABLED).
Seriesconnectresistorsforcurrent-limitingwhenusing+12Vor+24V
control signals.

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PUL/DIRandCW/CCW ModeSettings
Therearefourresistors(R31/R32/R33/R37)insidetheDCS810V2specificallyfor
settingPUL/DIRandCW/CCWmodes, asshowninfigure3-1. Default settingis(b),
namelyPUL/DIRmode,DIRLOWforpositivedirection and DIRHIGH for
negativedirection.
(a)R31, R37shortcircuit, PUL/DIRmode(b)R31, R37shortcircuit, PUL/DIRmode
DIR HIGHforPositive Direction DIR LOWforPositive Direction
DIR LOWforNegative DirectionDIR HIGHforNegative Direction
(c)R32, R37shortcircuit, CW/CCWmode
effective atLOWlevel(The fixedlevel)
Figure3-1:PUL/DIRand CW/CCWsettings
ControlSignalConnections
TheDCS810V2canacceptdifferentialand single-endedinputs(including
open-collectorandPNPoutput). TheDCS810V2 has2 opticallyisolatedlogicinputs
toacceptlinedrivercontrolsignals.Theseinputsareisolatedtominimizeor
eliminateelectricalnoisescoupledontothecontrolsignals.Recommenduseline
drivercontrolsignalstoincreasenoiseimmunityininterferenceenvironments.In
thefollowing figures,connectionstoopen-collectoranddifferentialcontrolsignals
areillustrated.
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Figure3-2:Connectionstoopen-collectorcontrolsignal(common-anode)
Figure4:ConnectionstoPNPsignal(common-cathode)
Figure3-3:Connectionstodifferential controlsignal

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EncoderConnections
TheDCS810V2canacceptencoderinputfromeitherdifferentialorsingle-ended
encoders.Differentialencodersarepreferredduetotheirexcellentnoiseimmunity.
Theconnectionsforasingle-endedencoderareidenticaltoadifferentialencoder
exceptthatnoconnectionsshouldbemadetochannelA-and channelB-.(TheA-
and B-linesarepulledupinternallyto+2.5V).Notethattwisted-pairshielded
cablingprovidesthebestimmunityinelectricallynoisyenvironments.
If theencoderdrainsless than50mA,theDCS810V2cansupplytheencoder
directly,and connectitasFigure3-4orFigure3-5. Iftheencoderdrainsmorethan
50mA,useanexternalDCsupplyandconnectit asFigure3-6 orFigure3-7.
Figure3-4:TheDCS810V2suppliestheFigure3-5:TheDCS810V2supplies
thedifferentialencoderdirectlysingle-endedencoderdirectly
Figure3-6:UsingexternalDCpowersupplyFigure3-7:UsingexternalDCpowerto
tosupplythedifferentialencodersupplythesingle-endedencoder
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RS232 Interface Connection
Figure3-8:RS232 interfaceconnection
TypicalConnections
TwotypicalconnectionsoftheDCS810V2 areshownasFigure3-9 andFigure3-10.
Pleaseconsult “ControlSignalConnections”and “EncoderConnections”formore
informationaboutcontrollerandencoderconnections.
Figure3-9:Typical connection(Open-collectorcontrolsignalandsingle-endedencoder.)

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Figure3-10:Typical connection(Differentialcontrolsignalanddifferentialencoder.)
4.ServoSetup
Beforeyoustarttheservo,youcanfollowthebelowsteps.
InstallEncoder
If yourmotorhasnoencoder,youmusthaveanencoder(morethan200 lines)
properlymountedonthemotorbeforeyou start.Andpleaseassembletheencoder
according toitsfactorymanual. Here,werecommendusedifferentialencoder
again. Ifyoudohavetouseasingle-endedencoder,pleaseuseshieldedcablesand
separateencodersignalcablefrominterferencesources,suchasmotorwiresand
powerwiresatleast5 cm.
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PreparePowerSupply
RegulatedorUnregulatedPower Supply
Bothregulatedandunregulatedpowersuppliescanbeusedtosupplythedriver.
However,unregulatedpowersuppliesarepreferredduetotheirabilitytowithstand
currentsurge.Ifregulatedpowersupplies(suchasmostswitchingsupplies.)are
indeedused,it isimportanttohavelargecurrentoutputrating toavoidproblems
likecurrentclamp,forexampleusing4Asupplyfor3Amotor-driveroperation.On
theotherhand,ifunregulatedsupplyisused,onemayuseapowersupplyoflower
currentratingthanthatofmotor(typically50%～70%ofmotorcurrent). Thereason
isthatthedriverdrawscurrentfromthepowersupplycapacitoroftheunregulated
supplyonlyduringtheON durationofthePWMcycle,butnotduringtheOFF
duration.Therefore,theaveragecurrentwithdrawnfrompowersupplyis
considerablylessthanmotorcurrent.Forexample,two3Amotorscanbewell
suppliedbyonepowersupplyof4Arating.
Selecting Supply Voltage
TheDCS810V2canactuallyoperatewithin+18Vto+80VDC,includingpower
inputfluctuationandbackEMFvoltagegeneratedbymotorcoilsduring motorshaft
deceleration.Theratedvoltageofthemotorisanimportantparameterwhen
selecting supplyvoltage.Generallyspeaking,do notuseapowersupplyvoltage
morethan5voltsoftheratedvoltageofthemotor.Highervoltagemaycausebigger
motorvibrationatlowerspeed,andit mayalsocauseover-voltageprotectionor
evendriverdamage.
PrepareController
Prepareacontrollerwithpulseanddirectionsignals.However,theDCS810V2hasa
built-inmotioncontrollerforself-testandServoTuning.Thebuilt-inmotion
controllercangeneratecontrolsignalwithtrapezoidalvelocityprofile.

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SystemConnectionsand NoisePrevention
Afterfinishingtheabovesteps,youcanconnectyourservosystem. Beforeyoustart,
makesurethatthepowerisoff.Connectyoursystemaccordingtoconnection
diagramsbefore, andpayattentiontothefollowing tipswhenwiring.
Wire Gauge
Thesmallerwirediameter(lowergauge),thehigherimpedance.Higherimpedance
wirewillbroadcastmorenoisethanlowerimpedance wire.Therefore,when
selectingthewiregauge,itispreferabletoselectlowergauge(i.e.largerdiameter)
wire.Thisrecommendationbecomesmorecriticalasthecablelengthincreases.Use
thefollowing tabletoselecttheappropriatewiresizetouseinyourapplication.
Current(A) Minimumwiresize(AWG)
10 #20
15 #18
20 #16
CableRouting
All contentsensitivesignalwiresshouldberoutedasfarawayfrommotorpower
wiresanddriverpowerwiresaspossible.Motorpowerand driverpowerwiresare
majorsourcesofnoiseandcaneasilycorruptanearbysignal.Thisissuebecomes
increasinglyimportantwithlongermotorpoweranddriverpowerwireslengths.
TwistedWires
Twistedwireseffectivelyincreasingnoiseimmunity.Thesuccessivetwistseliminate
noisetransientsalongthelengthofthecable.Bothsignalcablesandpowercables
shouldbeofthetwistedandshieldedtype.Differentialsignalwiresshouldbe
twistedasapair.Thecombinationoftwistedpairwiresandadifferentialsignal
significantlyaddstonoiseimmunity.Powerwiresshouldbetwistedasagroup
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alongwiththeground(orchassis)wire, ifavailable.
CableShielding
All signalwiresshouldbebundledandshieldedseparatelyfromdriverpowerand
motorpowerwires.Powerwiresshouldalsobebundledand shielded.When
groundingashield,therule-of-thumbistodosoatthe ‘source ofpowerwhile
leavingtheothershieldendopen.Forexample,inthecaseofmotorpowerwires,
thiswouldbethedriveside.Ideally,twistedpairsshouldbeindividuallyshielded
andisolatedfromtheoutershield,whichencompassesall wireswithinthecable.
However,since thistypeofstringentshieldingpracticeisoftennotrequired,typical
cablesdonotprovideisolationbetweeninnerandoutershields.
SystemGrounding
Goodgroundingpracticeshelpreduce themajorityofnoisepresentinasystem.All
common groundswithinanisolatedsystemshouldbetiedtoPE(protectiveearth)
througha ‘SINGLE lowresistance point.AvoidingrepetitivelinkstoPEcreating
groundloops,whichareafrequentsource ofnoise.Centralpointgroundingshould
alsobeappliedtocableshielding;shieldsshouldbeopenononeendandgrounded
ontheother.Closeattentionshouldalsobegiventochassiswires.Forexample,
motorsaretypicallysuppliedwithachassiswire.Ifthischassiswireisconnectedto
PE,butthemotorchassisitselfisattachedtothemachineframe,whichisalso
connectedtoPE,agroundloopwillbecreated.Wiresusedforgroundingshouldbe
ofaheavygaugeandasshortaspossible.Unusedwiringshouldalsobegrounded
whensafetodososincewiresleftfloatingcanactaslargeantennas,which
contributetoEMI.
Power Supply Connection
NEVER connectpowerandgroundinthewrongdirection,becauseit will damage
theDCS810V2driver.Thedistance betweentheDCpowersupplyofthedriveand

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thedriveitselfshouldbeasshortaspossiblesincethecablebetweenthetwoisa
sourceofnoise.Whenthepowersupplylinesarelongerthan50 cm,a
1000µF/100Velectrolyticcapacitorshouldbeconnectedbetweentheterminal
“GND”and theterminal “+VDC”.Thiscapacitorstabilizesthevoltagesuppliedto
thedriveaswell asfiltersnoiseonthepowersupplyline. Pleasenotethatthe
polaritycannotbereversed.
Itisrecommended tohavemultipledriversto shareonepowersupply toreducecost
ifthesupplyhasenoughcapacity. Toavoidcross interference, DONOT daisy-chain
thepowersupplyinputpinsofthedrivers.Instead,pleaseconnectthemtopower
supplyseparately.
5.Tuningtheservo
Testingtheservo
You maywishtosecurethemotorsoit can tjumpoff thebench.Turnonthepower
supply,thegreen(Power) LEDwill light.TheDCS810V2hasdefaultparameters
storedinthedriver.If thesystemhasnohardwareand wiringsproblem,themotor
shouldbelockedandthedrivershouldbeready.
If themotorjumpsslightlyandtheredLEDimmediatelyturnson(flickers),then
eitherthemotorortheencoderiswiredinreversal.Openthetuningsoftware
ProTunerand checkdriverstatusbyclicking Err_check.If it s PhaseError,then
reversalmotorwiresorexchangeencoderinputsandtryagain.If it s Encoder
Error,pleasecheckencoderanditswirings,andthentryagain.If it still doesn t
workafteryoufollowedall oftheprevioussteps,pleasecontactusat
[e-mail].
If theredLEDisoffandthemotorisnormal,thenyoucanstarttotunetheservo
withselectedtool. ProTuner, and STU areavailablefortheDCS810V2.
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TuningtheServo
Aservosystemiserror-driven.The “Gain”ofthesystemdetermineshowhardthe
servotriestoreducetheerror.Ahigh-gainsystemcanproducelargecorrecting
torqueswhentheerrorisverysmall.Ahighgainisrequirediftheoutputisrequired
tofollowtheinputfaithfullywithminimalerror.
Aservo motoranditsloadbothhaveinertia,whichtheservoamplifiermust
accelerateanddeceleratewhileattemptingtofollowachangeattheinput.The
presence oftheinertiawill tendtoresult inover-correction,withthesystem
oscillatingbeyondeithersideofitstarget.It scalledUNDERDAMPEDstatus.See
Figure5-1. Thisoscillationmustbedamped,buttoomuchdampingwill causethe
responsetobesluggish,namelycausethesystemtogetintoanOVERDAMPED
state.Whenwetuneaservo,wearetryingtoachievethefastestresponsewithlittle
ornoovershoot, namelygetaCRITICALLYDAMPEDresponse.
Figure5-1:Stepandimpulseresponses
Asmentionedinpreviouscontents,theDCS810V2isadigitalservodriverand its
inputcommandisPUL/DIRsignal.Inotherwords,stepresponsejustexistsineach

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stepcommandsignal.Foreachstepcommandsignalisaverysmallmovement,so
OVERSHOOTandSETTLING TIMEbetweeneachstepareverysmall,causing
youhardlycanseeastepresponsesuchasFigure13, eveniftheSETPOINTisa
verylargequantityandtheaccelerationisveryhigh.
However,ifyoutrytoevaluateperformancesofthedigitalservobyinvestigatingits
positiontracking-errororpositionfollowingerror,youmayfindit smucheasier
thaninvestigatingitsstepresponse.Theeasiestwaytogetatracking-erroror
positionfollowingerrorresponseistoinduce animpulseloadonthemotor.See
Figure13 at “time20”.
LeadshineofferaWindowsbasedsetupsoftware ProTuner and aSmall servo
tuningunit STU (optional)toitscustomersforevaluating servoperformances. STU
isforfieldtuningwithoutPC.
TuningservosystemsformedbyDCS810V2driverscanbesummarizedasthe
followingrules:
1. If servosystemisUNSTABLE,thenthefirstthingoftuningistostabilize
thesystem.Youcanincrease DerivativeGain of PositionLoop (Kd)or
decrease ProportionalGain ofPositionLoop(Kp)or IntegralGain of
Position Loop(Ki).
2. If servosystemisUNDERDAMPED,thenincreaseKdordecreaseKpor
Ki.
3. If servo systemisCRITICALLYDAMPED,thenstoptuningand
downloadtheparametersettingstothedriver sEEPROM.
4. If servosystemisOVERDAMPED,thendecreaseKdorincreaseKpor
Ki.
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6. PCwindowbasedTuningUsingProTuner
Introduction
Thismanualwill provideanoverviewofconnectionandbasicsetupinstructionsfor
Leadshine sdigitalservodriverDCS810V2usingthe ProTuner software.Thebasic
setup ofadigitaldriverisdesignedtobeanalogoustothesetupandtuningofan
analogamplifier.Theseinstructionswill walkyou throughthefollowingsteps
necessarytostartupyourdriverandmotor.Thisdocumentisintendedforsettingup
thedriverwiththe ProTuner.
Software Installation
TheProTuneriswindowsbasedsetupsoftwarefortuning Leadshine sdigitaldrivers.
Itcanruninwindowssystems,includingWin95/Win98/WindowsNT/Windows
2000/WindowsXP.AndtheselectedPCshouldhave1serialportatleastfor
communicatingwiththedriver.
Doubleclick “ProTuner_All_Setup_V1.0.exe”tobegininstallingthe ProTuner.
See Figure6-1. Click Next toenterthe “LicenseAgreement”window.See Figure
6-2.
Note:ProTuner_All_Setup_V1.0.exe canbeusedforall Leadshinedigitaldrives.Usercan
getitfromeitherLeadshineCDorwebsite.Pleasegetthelastedversionfrom
http://www.leadshine.com.

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Figure6-1:BegintoinstalltheProTuner
Figure6-2:Licenseagreement
Choose “Iagree tothetermsofthislicenseagreement”and click Next tocontinue
installation.Theusercanenteruser sinformationinthefollowingwindow.See
Figure6-3. Afterenteringtheuser sinformation,click Next toselectinstallation
folder, whereyouwouldliketoinstall the ProTuner. SeeFigure6-4.
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Figure6-3:User sinformationsettings
Figure6-4:Installationfoldersettings

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Figure6-5:Shortcutfoldersetting
Setthe “ShortcutFolder”inFigure6-5and continuetoinstall the ProTuner by
followingFigure6-6and Figure6-7. An InstallationSuccessful windowwill
appearifthe ProTuner isinstalledsuccessfully. See Figure6-8.
Figure6-6:Installationinformation summarization
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Figure6-7:InstallingtheProTuner
Figure6-8:Finishinstallation
Note: Leadshinealsooffersspecialversion ProTunerwhichdoesnotneedinstallation. Pleasevisit
ourwebsite www.leadshine.com forlatestProTuner.
RS232 Interface Connection
Connecttheservosystemaccording tochapter “Connections”and connectthePC
tothedriverasthefollowingfigure.

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Figure6-9:RS232 interfaceconnection
Testingtheservo
You maywishtosecurethemotorsoit can tjumpoff thebench.Turnonthepower
supply,thegreen(Power) LEDwill light.TheDCS810V2hasdefaultparameters
storedinthedriver.If thesystemhasnohardwareand wiringsproblem,themotor
shouldbelockedandthedrivershouldbeready.
If themotorjumpsslightlyandtheredLEDimmediatelyturnson(flickers),then
eitherthemotorortheencoderiswiredinreversal.Openthetuningsoftware
ProTunerand checkdriverstatusbyclicking Err_check.If it s PhaseError,then
reversalmotorwiresorexchangeencoderinputsandtryagain.If it s Encoder
Error,pleasecheckencoderanditswirings,andthentryagain.If it still doesn t
workafteryoufollowedall oftheprevioussteps,pleasecontactusat
[e-mail].
If theredLEDisoffandthemotorisnormal,thenyoucanstarttotunetheservo
with ProTuner.However,werecommendyouseethefollowingcontentsbefore
starting tuning.
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Software Introduction
ProTuner MainWindow
Figure6-10:ProTuner
ØOption
Theusercanchoosethreedrop-downmenusbyclicking “Option”,including Com
Config, SaveToDriver,Archives and Exit.
lComConfig:ConfigureComcommunicationinterface.
lSaveToDriver: Downloadthecurrentparametersettingstothedriver.
lArchives: Savethecurrentparametertoafileorreadparameterfromafile.
lExit: Exit the ProTuner.
MenuBar
StatusBar

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ComConfig Window
Figure6-11:RS232communicationconfigurationwindow
SerialPort: Selecttheserialcommunicationporttowhichthedriverisconnected.
Thefactorydefault settingisCOM1.
BaudRate: Selectthecommunicationbaudrate.Thefactorydefault settingis
38400.
Click Open buttontoestablishaconnectionwiththespecifiedsettings.When
connecting,youcanchoose SaveToDrive todownloadthecurrentparameter
settingstothedriver,ortouploadthestoreddriversettingsintothe ProTuner by
clicking Tuning > PositionLoop onthemenu bar.
Tuning
Theusercanchooseoneortwodrop-downmenu(s)byclicking Tuning,including
CurrentLoop and PositionLoop.
lCurrentLoop:Itisusedtoconfigurecurrentloopparametersaccordingto
differentmotor. Inthetuning window,Usercanset Kd, Ki and I-test.
D
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Kp:CurrentProportionalgain. Increasethisparametertomakecurrentrisefast.
Ki:CurrentIntegralgain.Adjustthisparametertoreduce thesteadyerror.
I-test:Thecurrentamplitudeforthestepresponse.
Start button:Clicktoactivatethetest.Atargetcurveand aactualcurvewill display
onthescreenforuseranalysis.
lPositionLoop:Therearethreetabsin PositionLoopTuning window,
including P_parameter, T_Speed_Par,and CurveSetting tabs.
Figure6-12:P_parametertab

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In P_parameter tab, theusercanset PositionLoop PIDparameters, Electronic
GearRatio, PositionFollowing ErrorLimit, etc.
Kp:PositionProportionalGain.ProportionalGaindeterminestheresponseofthe
systemtopositionerrors.LowProportionalGainprovidesastablesystem(doesn t
oscillate),haslowstiffness,andlargepositionerrorsunderload.Too large
ProportionalGainvalueswill causeoscillationsandunstablesystems.
Kaff:PositionAccelerationfeed-forwardgain.Itisusedtoadjusttheposition
followingerrorduringaccelerationand deceleration.
Kd: Position DerivativeGain.DerivativeGainprovidesdampingbyadjustingthe
outputvalueasafunctionoftherateofchangeoferror.Alowvalueprovidesvery
littledamping,whichmaycauseovershootafterastepchangeinposition.Large
valueshaveslowerstepresponsebutmayallowhigherProportionalGaintobeused
withoutoscillation.
Vp: Velocity Proportional Gain. ItissimilarasKdbutforvelocityloop.
Vi: Velocity Integral Gain.Itisusedtoadjustthesteadyvelocityerrorwhenthe
velocityisstable.
CAM_numerator: NumeratorofElectronicGear. Canbesetfrom1 to255.
CAM_denominator: DenominatorofElectronicGear. Canbesetfrom1 to255.
PositionFollowErrLimit: PositionFollowingErrorLimit.Thelimit ofthe
differencebetweencommandedpositionandtheactualmeasuredposition.When
positionfollowingerrorreachesPositionFollowingErrorLimit parametersettingin
thedriver, theprotectionwillbeactivated.
EncoderLines:EncoderLineCount.TheDCS810V2supportssingle-endedand
differential-endedincrementalencoders.Here,onething shouldexplainedisthatthe
D
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EncoderLinesparameterinthistabisjustforself-testmotioncontrollerduring
tuning, andwill notaffectthedrivertointerprettheencoderfeedbacksignal.With
regardtotheDCS810V2, feedbackresolutionis ×4 encoderlinecount.
edge:ActiveEdge. Theusercansetthetriggerededgeofpulsecommandsignalin
thispanel. Up meansup-riseedgeand Down meansfallingedge.Whenthedriver
worksinCW/CCWmode,nomatterwhatlevelisatfixedlevelterminal,thedriver
canworksproperly.
reverse: ReverseDirection :Changethedefault directiontothesameinputlevelin
DIR.Forexample,themotorrunCWatdefault setting andwill runCCWif reverse
isselected.
Start/Stop button:Theusercanstartorstopself-testbyclicking thisbutton.
Figure6-13:T_Speed_Partab
In T_Speed_Par tab,theusercansetvelocityprofileforselfmotiontestandtuning,
includingMaximumSpeed,Acceleration,positionmoveDistanceoftrapezoidal

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velocityprofile, and Interval, RepeatTimesofselfmotion test.
V_top:MaximumSpeed.Themaximumspeedoftrapezoidalvelocityprofile.Its
unit isRPM.
Accel:Acceleration.Theaccelerationoftrapezoidalvelocityprofile.Itsunit is
(r/s)/s.
Length:Distance.Thedistancerequiredtomove.Itsunitispulse(count).
Interval: Theintervalbetweenpositiverotationandnegativemovement.
Repeat_times: Therepeattimesofpositiveandnegativemovement.
Start/Stop button:Theusercanstartorstopself-testbyclicking thisbutton.
Figure6-14:CurveSettingtab
In CurveSetting tab, theusercanchoosecurvesdisplayedindigitalscopeof
PositionLoopTuning windowand DigitalMonitor window,and settheir Trace
Time.Thesecurvesincludes CurrentFollowingError (i_err), VelocityFollowing
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Error (v_err), PositionFollowingError (p_err), CurrentFeedback (i_bak),
VelocityFeedback (v_bak), PositionFeedback (p_bak), CurrentCommand
(i_ref), VelocityCommand (v_ref), PositionCommand (p_ref).
i_err:CurrentFollowingError.Thedifferencebetweencommandedcurrentand
theactualmeasuredcurrent.
v_err:VelocityFollowingError.Thedifferencebetweencommandedvelocityand
theactualmeasuredvelocity.
p_err:PositionFollowingError.Thedifferencebetweencommandedpositionand
theactualmeasuredposition.
i_bak:CurrentFeedback.Thisistheactualmeasuredcurrentinmotorcoil.Ideally,
thisvalueshouldbeascloseaspossibletothecommandedcurrent.
v_bak:VelocityFeedback.Thisistheactualmeasuredvelocitymeasuredbythe
encoder.Ideally,thisvalueshouldbeascloseaspossibletothecommanded
velocity.
p_bak:PositionFeedback.Thisistheactualmeasuredpositionmeasuredbythe
encoder.Ideally,thisvalueshouldbeascloseaspossibletothecommanded
position.
i_ref:CurrentCommand. Thisisthecommandedcurrent.
v_ref:VelocityCommand.Thisisthecommandedvelocity.
p_ref:PositionCommand.Thisisthecommandedposition.
TraceTime:TraceTime.Thisisthetrace timeofthedigitalscope.
Start/Stop button:Theusercanstartorstopself-testbyclicking thisbutton.

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Digital_monitor
lDigitalMonitor:Displayscurvesanddynamicvaluesofdifferentpointof
differentcurves.
Figure6-15:Digitalscopewindow
I:Current.DisplaysdynamicvaluesforCurrentrelatedcurve(s).Dynamicvalue
will changewithmousefocuschanges.Itsunit ismA.
V:Velocity.DisplaysdynamicvaluesforVelocityrelatedcurve(s).Dynamicvalue
will changewithmousefocuschanges.Itsunit isr/min.
P:Position.DisplaysdynamicvaluesforPositionrelatedcurve(s).Dynamicvalue
will changewithmousefocuschanges.Itsunit ispulse(count).
T:Time.DisplaysdynamicvaluesforTime.Dynamicvaluewillchangewithmouse
focuschanges. Itsunit isms.
Err_check
lErrorCheck:Thiswindowshowsboththepresentstatusofeacherrorevent
and theirhistory.Currenterrorevent(s)canberesetbyclicking EraseCurrent
Err! button, andall erroreventscanberesetbyclicking EraseAll! button.
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Figure6-16:Errorcheckwindow
OverCurrent: Over-currentProtection.Protection will beactivatedwhen
continuouscurrentexceeds20A.
OverVoltage:Over-voltageProtection.Whenpowersupplyvoltageexceeds36.5
±1.5 VDC, protectionwill beactivated.
PhaseErr: PhaseErrorProtection.Motorpowerlineswrong&notconnectedand
encoderfeedbacksignalsA/Bphaseswrongconnectedwill activatethisprotection.
EncoderErr: Encoder ErrorProtection.Noencoderfeedbacksignalsorwrong
encoderfeedbacksignalswillactivatethisprotection.
FollowingErr:PositionFollowingErrorLimitProtection.Whenposition
followingerrorreaches PositionFollowingErrorLimit parametersettinginthe
driver, thisprotectionwill beactivated.
ErrCounter: Displayscurrenterror(s)and currenterrorhistory.
EraseCurrentErr!:EraseCurrentErr button.Theusercanclearcurrenterror(s)
byclickingthisbutton.
EraseAll!: EraseAll! button.Theusercanclearall error(s)includingerrorhistory

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byclickingthisbutton.
About
Theusercanchoosetwodrop-downmenusbyclicking “About”,including Product
Information and ContactUs.
lProductInformation window:Showssomeproductinformationabout
ProTuner.
lContactUs window: ShowssomecontactinformationaboutLeadshine.
Figure6-17:Productinformation
Figure6-18:Contactinformation
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Servo Tuning
PositionLoopIntroduction
Position looptuningisdependantonthemechanicalload, and thereforewill change
withanymechanicalsystemchanges.Positionloop tuningshouldbeperformedwith
themotorinstalledinthesystem.Theposition loopcanbeclosedaroundvelocityor
torquemode(dependingonwhetherthevelocityloopisenabledordisabled).Ifit is
closedaroundvelocitymode,thepositionloopalgorithmoutputbecomesthenew
velocitysetpoint.Ifitisclosedaroundtorquemode,thepositionloopalgorithm
outputbecomesthenewtorquesetpoint.Therearesomeimportantdifferencesinthe
tuningprocess andapplicationofthesetwoapproaches:
PositionaroundVelocity: Thismodeismostcommon in"contouring"application,
whereapositiontrajectorymustbetrackedveryclosely.Thevelocityloop provides
additional"stiffness", andkeepsthedynamicposition errorsminimal,sincethe
systemnowreactstonotjustpositionerrors,butalsovelocityerrors(whichcanbe
interpretedaspositionerrorchanges).Itisimportanttostartwithastableyet
responsivevelocityloop.Typically,it issufficienttojustusethepositionloop
proportionalgain.Feed-forwardgaincanbeaddedtoimprovetrackingperformance
(i.e.minimizethedifference betweencommandedandactualposition).Thevelocity
loopisdisabledincurrentversionDCS810V2, and itadopts Positionaround
Current (Torque)mode.
Positionaround Torque: Thismodeismostcommon inpoint-to-pointapplications,
whereactualmotionbetweenstartandendpointisnotverycritical.Inthiscase,
velocityloop tuningcanbeavoided.Thiscanbeadvantageousifthevelocity
feedbackispoor(e.g.lowresolutionencoder,poorencoderquadrature.). Inthis
case,thetuningprocess requiresthatthepositionloopproportionaland
derivativegainare increasedsimultaneously, unless thesystemhassufficient
friction,inwhichcasenoderivativegainisnecessary. Once astableresponseis

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achieved,integralgaincanbeaddedtoimprovestiffness. Itisbesttouseastep
command withtheprofilerenabledasareference signalduringtuning.
Drivertuningisamulti-stepprocess thatinvolvespropertuning ofuptothree
differentservoloops,namelycurrentloop,velocityloopand positionloop.Youcan
eithertunethepositionlooparoundthevelocityloop,oraroundthecurrentloop.
Generally,it ismucheasiertotuneapositionlooparoundavelocityloopbecause
onlytheproportionalgainisneeded. Whentuningpositionaroundthecurrentloop, a
highderivativegainmaybenecessaryontopofbothproportionalandintegralgains.
FormostoftheDCS810V2drivershavebeenbeingsoldtothecustomerswith
Leadshine sDCM5xxxx DCservo motors,Leadshinewill tunethecurrentloop
beforesendingdriversoutofthefactory.Mostofcustomersjustneedtotunethe
positionloopparameterswiththestandardversioniftheyusethedriverswith
Leadshine sDCM5xxxx DCservo motors.IfyouusetheDCS810V2withDCservo
motorsfromothermanufacturersand currentlooptuningisneeded.Pleaseuse
ProTunertotunethecurrentloopatfirst.
Followthestepsbelowfortuningthedriverwiththe ProTuner.
CurrentLoopTuning Example
If userusesLeadshine DCMseriesmotor, theydon tneedtotune the currentloop
parameter. Butifotherbrand motorisselected,pleasecontactLeadshineforthe
password forcurrentloop tuning.(654321) Below isanexampletoshowthetuning
procedure ofcurrentloop basedon LeadshineDCM50207D-1000. See
Figure6-19 for connection information and othernecessarycomponent.
(DCM50207D-1000 specification:
0.35Nm@2900RPM, Phaseresistance=0.9Ohm
PhaseInductance=1.6mH, EncoderLines= 1000)
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Figure6-19:Connectionsintuningexample
Step1:See figure6-20. Set I-test 1 and beginthetuningwithsmall Kp and zero Ki.
Herewegive Kp 500. Pleasehitthe Enter”key afterentering inthenumber.
Figure6-20:Initial valueforKp,KiandI-test forcurrentlooptuning