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Servo Drive Tuning

This document summarizes the key features and setup process for a servo drive system: - The servo drive includes an auto-tuned controller for DC motors with current and temperature protection, and high frequency encoder feedback for position and velocity control. It is compatible with various programming platforms. - Setup involves connecting the motor, encoder, and power, then initiating the tuning software to configure board settings like baud rate and filters. - Tuning is done by clicking buttons in the software to reset, turn on, and update the controller while monitoring scopes and adjusting tuning parameters like proportional gain and oscillation frequency. - Once tuning is complete, settings can be saved to the board and it can be controlled via pulse

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Kim Keat
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178 views15 pages

Servo Drive Tuning

This document summarizes the key features and setup process for a servo drive system: - The servo drive includes an auto-tuned controller for DC motors with current and temperature protection, and high frequency encoder feedback for position and velocity control. It is compatible with various programming platforms. - Setup involves connecting the motor, encoder, and power, then initiating the tuning software to configure board settings like baud rate and filters. - Tuning is done by clicking buttons in the software to reset, turn on, and update the controller while monitoring scopes and adjusting tuning parameters like proportional gain and oscillation frequency. - Once tuning is complete, settings can be saved to the board and it can be controlled via pulse

Uploaded by

Kim Keat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Servo Drive

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Auto-tuned servo controller for DC motor Current


feedback, overcurrent and overheat protection.
High frequency 32 bit counter for encoder
feedback: 1x, 2x, 4x
Position and Velocity control with interpolation
rwt velocity and acceleration.
Compatible with LabVIEW, Matlab and Simulink,
Visual Studio .NET
.COM API Library, USB, I2C, RS485 Connectivity,
Analogue, Pulse-DIR inputs

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Motor & Encoder Connection

USB then Power Connection

DC Tuning Pro Initiation

Board Configuration

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Testing and Tuning

Connect the Motor & Encoder.

MOTMOT+

GND
VCC
A
B

MOT+: Positive Motor Output


MOT-: Negative Motor Output
VCC, GND: Output 5V.
A, B : Encoder Channels.
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USB then Power Connection

1. PWR +
2. GND

PWR +: DC Supply Input


GND: Power Ground (Common With Signal
Ground) GND
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DC Tuning Pro Initiation

1. Current Scope
2. Servo Feedback
Scope

4. Setting
Information
Motor & Board
5. Control
Structure.

6. Low Pass
Filter Module.
3. Online Control
and Monitor
Interface

7. Current Max.
8. Board Control

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Motor Configuration

Address: Other than zero


Pull/Round: Refer to motor datasheet
Baud: Data communication rate(The lower the baud, the faster the motor speed

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Select Auto Tuning Tool

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Encoder Filter: Refer motor datasheet

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Max Current : Refer to datasheet of motor

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Tuning and Testing Motor

Step
Step 1:
1:

Step
Step 2:
2:

Click Turn-on

Step
Step 3:
3:

Click TUNING

Step
Step 4:
4:

Click Update To

Step 5:

Select State Feedback Position


Control

Step 6:

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Click Reset

Set the value of Wn

Step 7:

Step 8:

Click Turn-on

Step 9:

Set Dw and Wn to desired value


(Max 500) and Os to 6.28

Step 10:

Click Update

Step 11:

Check K1 = 500 - 1000


and output oscillation near to
6.28

Step 12:

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Click Reset

Change Os to 0

Step 13:

Step 14:

Change Address to 0

Click Save

- Make sure baud rate and velocity are the same for all motor
- K1 are approximately the same for all motors

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Connection to Microcontroller

Pulse.
Direction.

Connect the Direction and Pulse pin to digital output pin of


microcontroller
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Coding
Give digital output HIGH or LOW to Direction
pin to make the motor turn clockwise and
anticlockwise
Give digital output HIGH and LOW (like clock)
to Pulse pin to control the speed of motor
Smaller delay increase the speed

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