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DELTA_IA-ASD_ASDA-Soft_UM_EN_20140710

1. EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command 3 136 July 2014 Chapter 3 Advanced Operation There are 35 command selections of digital output Users could directly set it up via the drop down menu Ox01 S5ervo ready 0x02 Servo On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit O0x07 Servo alarm Servo fault activated sgh elaine ele brake control ox10 Output ae warning 0x11 Servo warning activated 0x12 Position command overflow Lect a ASDA Soft User Guide Users can set the digital output DO status as a contact frequently open or b contact frequently close 0 x 1 Serva read y Step 6 Common Setup Position Mode Setup PR Mode Setup Torque Mode Setup Internal Speed Torque The screen on the right will be switched to the one as below July 2014 Rotaion Direction Selection P1 01 Forward CCW Reverse CW C Forwrd CW Reverse CCW Encoder Output Pulse Number P 1 46 2500 Pulse frev 20 320000 Pulse Output Polarity Setting P 1 03 Output Polarity __ X Monitor analog output polarity 0 MON1 MON2 Forward Output 4 MON1 MON2 Reverse Output 2
2. ae BA wa a Setting Advanced Setting Sketch Table Printer Machine unit Master DegA Step 2 Rotary Shear PL Printing Range 200 mm Printer Pep A pegs Printer Machine BL Blank Range 20 mm 12 aAA ENN i Gear Ratio A 1 L nmxd2 Gear Ratio B 1 fi 3 i Motor PUU NO g Vf A per rev 100000 PUU rev E I y A F dil a e a alting A di Roller Diameter 30 mm p Encoder Pulse Number 10000 pulse rev PL BI f k d2 Roller Diam of Master 100 mm a Create BLA Slave i be Previc DUS a eoan P Burn TableData Information Simulation Unit mm Slave Pulse 100000 PUU Master Pulse 7 45 455 pulse Master Simulated Speed 100 pulse s 2 199978 mm s Slave Information gt Il 7 Position y Ly Gy wn Z speea ve P puus mm s I E Acceleration A Parameter setting of mechanism is provided in Setting unit Gear Ratio A 1 Gear Ratio B 1 Motor PUU NO per rev 100000 PUUsrev Encoder Pulse Number 10000 pulse rev d2 Roller Diam of Master 100 mm Followings are the theorem of software function and its setting method Master Printer a BL GOA Slave Propeller shaft Printing range Blank range Mechanical gear ratio PL BL Pitch S pulse Pulse number per revolution PUU rev 4 58 July 2014 Chapter 4 Description of Motion Control ASDA Soft
3. a 0x09 PR T Mode I L0x0A15 T Mode 0x08 CANopen 0x0C Reserved _ x0D PT PR Mode 0x0E PT PR S Mode __ Dx0F PT PRIT Mode Speed Threshold Over 5000 RPM 1 5000 BEBE B RBBB RRR RRR RRR RRR Ree eee eee eee eee ParaThd Msg 201 Cmd 0 July 2014 3 123 ASDA Soft User Guide Chapter 3 Advanced Operation Step 9 If users desire to setup speed or torque limit click the fifth block Internal Speed Torque Speed Mode Setup The screen on the right will be switched to the one as below Wi Parameter Initial Wizard Zee Boadd e l amp a trol 1 0x00 PT Mode SIRE cao 0x06 PT S Position control mode trol mode v If Control Mode is changed Must Reboot Drive to Enable Setting Bieter em 0 08 PTIS Positon con focal ff0x02 5 Mode gapa 0x04 SzMode _ 0x05 Ta Mode 0x06 PT S Mode _ Bos Setup 0 Disable speed limit function 4 Enable speed limit function only for T mode Speed Command Limit Source P1 09 P 1 11 Din must Select SPDO or SPD1 1000 Sse E p1 02 storque limit O Disable torque limit function S 1 Enable torque limit function only for P S mode Sm Torque Limit Setting P 1 12 P 1 14 _ 0x0F PT PR T Mode Din must Select TCMO or TCM1 twa ternal Register 1 Internal Register 2 Internal Register 3 CommandisO 100 jo fioo 300 300 300 300 30
4. che E Finta Arrar CMP Data Array u te When the setting is complete click __si Write CMP Data to Servo _ to write new value into Write OK data array Then the window will display below Step 10 Use A Digital IO and Software Scope to monitor the output of DO4 July 2014 4 139 ASDA Soft User Guide Chapter 4 Description of Motion Control output for high speed Click 2s DI1 0x01 Servo On Reims onor DI2 0x27 Return to homing origin Rome onor DI3 0x08 Command triggered Reims i ono nee Sa ON L DI setting DIS 0 13 PR command selection 1 64 Bit2 ON DI6 0x1A Position command selection 1 64 Bit3 ON and control DI7 0x00 Disabled Reims onor DI8 0x21 Emergency stop of On off DIS 0x00 Disabled ome onor DI10 0x00 Disabled EUME O onor DI 11 0x00 Disabled Reims i onor DI12 0x00 Disabled Reims i onor DI13 0x00 Disabled Meme i onor D114 0x00 Disabled PO 1 onjor Digital Output DO F Enable DO Control i Status Enable DO4 becomes the DO1 0x01 S5ervo ready Off In Ott DO 0x03 Motor is at zero speed ON compare and no longer DO3 0x09 Homing completed off On Off DO4 0x00 Disabled _or mor O display the current ON DOS5 0x07 Servo warning B O
5. 2 General Parameter Setting Electronic gear ratio software limit deceleration time of protection and event On Off setting are parameters that are commonly used when programming PR path The software programs these parameters in this area so that users can select it from the drop down list Hectronic Gear Ratio Electronic gear ratio is the E gear ratio of the servo drive P1 44 is Gear Ratio Numerator N1 and P1 45 is Gear Ratio Denominator M P 1 44 Electronic Gear Ratio Numerator N1 128 1 536870911 P1 45 Electronic Gear Ratio Denominator M 10 1 2147483647 Software Limit When designing the mechanism apart from the installation of hardware limit switch function of software limit will be added for the safety It is for avoiding the motor exceeding the traveling distance or free to use hardware limit The motor stops when reaching software limit Users can enable or disable the function and setup the July 2014 4 73 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 74 limit position here If set one side of the software limit to the max value and another side as the min value this function will be disabled P5 08 Forward Software Limit 2147483647 F Enable 2147483648 2147433647 P5 09 Reverse Software Limit 2147483648 TlEnable 2147483648 2147483647 Decel time of protection If desire to slowly stop the motor by activating the limit switch or triggering
6. 0x0A S T Mode 10x08 CAtlopen 0x0C Reserved 0x0D PT PR Mode _ 0x0E PT PR S Mode I 0x0F PT PR T Mode P1 02 Y torque 0 Disable torque limit function Le 1 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 g E ParaThd Msg 201 Cmd 0 z July 2014 FO ASDA Soft User Guide Chapter 3 Advanced Operation 3 102 0x02 S Speed Control Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x00 PT Position control mode Di PR Position control mode 0x05 Tz Zero torque J internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 beeen control mode control mode Speed Mode Setup Internal Speed Torgue Step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DI Ox i Servo On DIS 0x 16 Torque command selection 1 4 Bitd DI 4 0x17 Torque command selection 1 4 Biti DIS 0x02 Alarm Reset DIS 0x22 Reverse inhibit limit There are 43 command selections of digital input Users could directly set it up via the drop down menu Oxo ae On 0x05 Low speed CLAMP
7. A ce Download into the servo Function Setting Users can setup and modify the relevant parameters Download into the Servo When the setting of PR parameters is complete users can download them into the servo drive in online status Please click Download to download the parameters If click Download in offline status the following warning message will pop up Delta ASDA Soft V5 Write to Servo Failed It s Off Line now Please Set it On Line July 2014 4 69 ASDA Soft User Guide Chapter 4 Description of Motion Control d PR Simulation D C Show currrent PR Path RunPR Path 0 Stop PR Path Status light Numbers in this column represents the status of P5 07 The software accesses the value of P5 07 every 300 ms The light has two kinds MESH It it is offline the light shows dark green MG fit is online and Z ShewaurentPR Path ig checked the light shows light green 0 means P5 07 is not triggered and PR command has not been executed yet When proceeding PR Path simulation the displayed value is showed according to the change of P5 07 When the command is incomplete the displayed value will be the one of P5 07 When the command is complete the displayed value will be the value of P5 07 10000 When the command is complete and DO TPOS is ON motor position reached the displayed value will be the value of P5 07 20000 X Show current PR Pat
8. n HBRHRHRHBRHBRHERHRHEHE HBR HBR HEHEHE HERR HBR BR BRR RR RP RP eR eR RP eR eRe eRe eR eR eRe eR ee eRe ee eee eee ee 2 ee Se ee T Common Setup T i TE F _ 0x05 Tz Mode Rotaion Direction Selection P 1 01 q p Encoder Output Pulse Number P 1 46 P ee Mode g ainia CCW Reverse CW Pulse Output Polarity Ts aE 5 ou ro j 7 Y Output Polarity 0 MON ase MON2 4 Regenerative sae 52 P 1 53 Forward Output ra Mente went 751 f Reverse Output C 2 MON1 MON2 3001 w 0 3001 C 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 Max Motor Speed P 1 55 MBT1 fo 0 1000 ms 6001 RPM 106001 MBT2 r 1000 1000 ms _ 0x0E PT PR S IN z __ 0x0F PT PR T Mode MBTI P 1 42 MBT2 PI 43 Meer een 138 menl BERBER BR BRB RBBB REPRE eee eee eee eee BERR RRR RRR RRR RRR RRR RRR ParaThd Msg 201 Cmd 0 Step 7 Since it is in dual mode the system provides setting blocks of position PT and torque mode Setup Position PT Mode first Torque Mode Setup Internal Speed Torque July 2014 3 127 ASDA Soft User Guide The screen on the right will be switched to the one as below 0x08 PR S Mode C 2 208Kpps Low Speed 208Kpps High Speed __ 0x09 PR T Mode C 3 104Kpps Low Speed 104Kpps High Speed _ 0x0A S T Mode _ 0x0B CANopen _ 0x0C Reserved
9. Common Setup Position Mode Setup PR Mode Setup Internal Speed Torque 3 146 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 0x2 1 Emergency stop There are 43 command selections of digital input Users could directly set it up via the drop down menu Users can set the digital input DI status as a contact frequently open or b contact frequently close July 2014 3 147 ASDA Soft User Guide Chapter 3 Advanced Operation Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 Ox00 Disabled 0x00 Disabled 0x00 Disabled EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command y Digital Output DO Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu Ox0 1 Servo ready 0x02 Servo On Ox03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08
10. Position y PUL mm i l Bi speed vi PUL gt mms Tork bi oe Ta aT Tere vo clay cn ee A l m E Acceleration ACY nnn 1 Toolbar Open the E Cam file or save the programmed E Cam application emo G6 Icons from left to right Open files Save as files New edit Load from servo Description and Password setting General function of the toolbar is the same as the others that described before 2 E Cam table setting With the variety method of table creation users can complete the E Cam setting step by step Rotary Shear Please select one way to create E CAM Table Adjustable Sealing Rotary Shear Adjustable Sealing Zone Step i Select one way to ap Slave create E CAM Table Encoder 3 E Cam sketch According to the input pulse number of master and slave axis the software will simulate the E Cam curve July 2014 4 3 ASDA Soft User Guide Chapter 4 Description of Motion Control 6 000 PUL LOSS5956 525 PUUS Unit mm Slave Pulse 100000 PUL 5 000 ee 1 g7 250 PULS Master Pulse 1 pulse Master Simulated Speed 100 pulse s 100 mm s 4 000 Le ene ire Information X eF 3 000 PUL M F Position Y E E Speed ve _ Penan 43995998 6 4 PULI s 1317 PUU 0 000 mm ee 2 000 PUU 2199999 417 PUILI s L E Acceleration aAcy0 000 1 000 PUL 240 270 300 339 3ege 139 PUUS lt introduces the operation and setting steps of each
11. 0x02 S Speed control mode If Control Mode is changed Must Reboot Drive to Enable Setting Rotaion Direction Selection P 1 01 Eneoder Output Pulse Number P 1 46 i Forward CCW Reverse CW C Forwrd CW Reverse CCW Po SOSF Pulse rev 20 320000 Pulse Output Polarity Setting P 1 03 Y Output Polarity XeMonitor analog qutput polarity 0 enerative Resistor Setting P 1 52 P1 53 0 MON1 MON2 Forward Output C 4 MONa MON2 751 Q 5 751 F Reverse Output C 2 MONIC MON2 3001 w 0 3001 C 3 MONI MON2 Delay of Brake Selection P 1 42 P 1 43 om Speed P 1 55 MBT1 jo 0 1000 ms 6001 RPM 10 6001 MBT2 o 1000 1000 ms SERIN rp __L0x0E PT PR S Made Crs p m X0F PT PR T Mode 0 1000 NO Max Analog Torque Commmand P 1 41 MBT2 Pl 43 gsep P 1 38 5 H 5 0 1000 ParaThd Msg 201 Cmd 0 step 7 When the setting of Common Setup is complete the next step is Position Mode Setup B04 Sly 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below Bl Parameter Initial Wizard yf LS eS Esada 2B e Mode Selection P 1 01 aoe Seem 0x02 S Speed control mode v If Control Mode is changed Must Reboot Drive to Enable Setting 0x02 5 Mode L iS
12. 88 53 20 TFT 20 P2 49 Speed Detection Filter and Jitter Su 0E 850 v M Bandwidth Hz max 1023 12 p2 47 0 Disable Auto Resonance Suppression Mode v P2 23 Notch filter Freq 1 1000 IV Hz 50 1000 P2 24 Notch filter Gain 1 0 V gB 0 32 P2 43 Notch filter Freq 2 v P2 44 Notch filter Gain 2 P2 45 Notch filter Freq 3 P2 46 Notch filter Gain 3 4 Chapter 3 Advanced Operation Enable Gain Control Panel Selecting Enable Gain Control Panel will temporarily change the operating mode to Pr Mode P101 001 and alter the following parameters P0 06 08 P1 15 18 P1 34 36 P2 10 17 P2 36 37 P3 06 P4 07 All parameter changes are temporary Closing the control panel and cycling power on the amplifier will restore the original parameter values Fill in the resonance frequency and decibel value dB to the second Notch filter P2 43 P2 44 Then click Download parameter Step 4 The second system analysis System Analysis em AA Bode Data Resonance 1 Resonance 2 Resonance 3 BHOOOOC ag Read Gain Parameters Base Gain Pi 3715 P2 00 188 P2 o2 50 P2 04 753 P2 06 120 P2 23 1000 P2 240 P2 2513 P2 26 120 P2 43 697 P2 44 32 P2 45 1000 P2 460 Buttoni Parameters 4 Line Analysis Data 14 dB Set to B Line B Line Compare Data dB a Rated Current 50 a Stop Serv EEk The size of reson
13. CN3 Communication signal cable is used to operate servo drive or PLC HMI through MODBUS communication that combines assembly language However when users has no USB communication cable to connect ASDA Soft and ASDA servo drive the signal cable of IEEE1394 communication port can be used See figure d Please note that when using CN3 as the software communication port It only can be used to reading and writing parameters because the transmission rate and instantaneity is not enough It does not support connecting monitor function of scope An warning message in color red will be shown in the screen See figure d d Confirm Setting 2 Cancel Qxelp When the setting of communication connection is completed click OK to close the window If not click Cancel In addition use the standard close button can also close the window Help button can help users to open the document file for software description and to understand the setting of software communication 2 6 July 2014 Chapter 2 Basic Operation ASDA Soft User Guide 2 3 Language Description ASDA Soft V4 08 supports three languages Two setting methods are provided July 2014 1 User Setting from tool bar See figure below Tools Parameter Function Window Desa BL Setting OMA bar O lt Language Setting English Traditional Chinese Simplitied Chinese 2 Directly click ES button from tool bar the follow
14. DOZ 0x00 Disabled off njoft DO3 0x00 Disabled of yor DO4 0x00 Disabled off njof DO5 0x00 Disabled of njof w Keep DI control status when closing this form f gt Direction Im Forced Srv ON This section is divided into two parts Setting of Digital I O It describes the definition of each button and item on interface JOG It describes JOG function July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Setting of Digital Input Output The system can simulate digital inputs outputs via communication Please note 1 Since the simulation control is conducted by one way communication if more than one screen is opened users will be unable to read the status of DI O 2 Before disable the function of simulation control please disable all checked and enabled functions This is for avoiding the unnecessary danger which caused by incomplete program closure 3 All operation is controlled via communication Please make sure the software communication is fully connected during operation Followings are the description of each button E The system will use the default value of DI O at first Users can directly change the setting of DI O Check this function the window will switch to setting view see as below m aa pijfoxojpisabled A Bk DI1 0x00 Disabled DI2 0x00 Disabled DI2 0x00 Disabled DI3 0x00 Disabled en DI4 0x00 Disable
15. Feedback Position PUU A ADR Address Enter the specific position format can access monitor variable parameter and CANopen Object The unit is in hexadecimal Followings are the descriptions of the setting format Monitor Variable Specify Parameter CANopen Object Ox100000XX 0x20002X YY Ox20XX YYYY XX Monitor variable code YY Parameter number YYYY Index Range 0x00h Ox7Fh X Parameter group XX Sub Index number CHI ADR Addn 32bit W CHA ADR Addn 32bit M CHA ADR Addr 32 bit lox10000001 lox2000212C loxz002z60C1 Access monitor variable Access parameter P1 44 Access OB Index 60C1h Sub 2 Ox01h VAR Variables It can enter the specific monitor variable code Unit is 0 127 in decimal The following example is the monitor variable which is set as Feedback position PUU v CHLORE 1 32 bit 0 0 127 July 2014 ASDA Soft User Guide Chapter 3 Advanced Operation Descriptions of monitor variables in sequence of code are as the following Code Name of Variables Descriptions Attribute 000 Feedback position The current feedback position of the motor encoder 00h PUU The unit is PUU user unit The current coordinate of position command The unit is PUU user unit PT mode it represents the pulse number the servo Position command O O lt ak drive received PR mode the value of absolute coordinate from position command Equals to the pul
16. ParaThd Msg 201 Cmd 0 Step 8 If users desire to setup speed or torque limit click the fourth block Internal Speed Torque July 2014 3 109 ASDA Soft User Guide 3 110 The screen on the right will be switched to the one as below ee a Amn 1 Paramete tial WWizare Asail oe GA Coel Mode Selection 10 T lI T Tore control mode So __ 0x04 5zMode DIn must Select SPDO or SPD1 0x05 Tz Mode __ 0x06 PT S Mode __ 0x08 PR S Mode Se eerste E 0x09 PR T Mode 60000 60000 60000 60000 60000 60000 LoxoA S T Mode 10x0 Reserved 0x00 PT PR Mode 0x0F PT PR T Mode Din must Select TCMO or TCM1 T ternal Register 1 Internal Register 2linternal Register3 Command is 0 100 100 100 300 300 300 300 300 300 ParaThd Msg 201 Cmd 0 TTT TTT ELLE 0x04 Sz Zero Speed Internal Soeed Command Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x04 Sz Zero speed internal speed command 0x00 PT Position control mode 0x01 PR Position control mode 0x07 5 Speed control mode 0x03 T Torque control mode 0x04 Sz 7ero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode
17. Show all data in screen can turn the image back to the original size Aiming at the displayed data of each channel to automatically adjust the data to the max value automatically min value QoOood Direction key Adjust the image position of oscillograph m Show all data and adjust the max min amp Print screen Print the imgae of oscillograph Clear the current image of oscillograph Quickly open the file of software manual so Descriptions that user can Know more about the setting of scope Adjust the resolution of time axis X axis of HY Screen second switch adjust the scope The resolution of scope image can be enhanced The setting range is from 1 to 6 resolution 20 000ms 120 000ms Followings are the description of each item 1 Open a SCP scope curve file The following window will pop up when click the button Users could open the file with SCP scope File acp an scope File acp 3 4 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 2 S Save as a SCP scope curve file The following window will pop up when click the button Users could save the scope data Save as provides three format for file a Scope File scp It is the file format for ASDA Soft only b Text File txt The file can be opened by Microsoft Word c Bmp File bmp The file can be opened by Microsoft Office Picture Manager 3 AS Zoom in F5 Zoom out F
18. eso Pulse 0 1280000 Over Position error Threshold P2 35 3840000 10 Pulse 1 128000000 Electric Gear Numerator Setting P 1 44 P 1 45 a 1536870911 Geari Sip cnzis7sesea7 En 1 536870911 12 80 Gear2 128 eee Gia _ _ 128 1536870911 Tio Gear4 DIn must Select GNUMO 1 Step 8 Since b setting ParaThd Msg 201 Cmd 0 PR mode setting is a specific function in ASDA Soft click the function block below a reminder will pop up and ask users to click b for PR mode July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide a P The prompting message in main screen Setup ER the PR Mode in PR Mode Setup eee Pee ee Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup form Control Mode Selection P 1 01 0x09 PR T Position control mode Torque controlmode If Control Mode is changed Must Reboot Drive to Enable Setting 0x01 PR Mode Torque Mode Parameter Setup Analog Torque Command Filter P 1 07 tC YES fo ms f NO 100 10V II 0 1000 wh m Max Analog Torque Commmand P 1 41 SEEPS RRR RRR eee BEB EBB BRP ParaThd Msg 201 Cmd 0 July 2014 3 139 ASDA Soft User Guide Chapter 3 Advanced Operation Step 10 If users desire to setup speed or to
19. 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit0 12 Position command selection 1 64 Biti lias July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Users can set the digital input DI status as a contact frequently open or b contact frequently close DII 0x0 1 Servo On Step 4 Setup External Digital Input EDI command y External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Y Digital Output DO Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu Ox0 1 Servo ready 0x02 Serve On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x10 Qutput overload warning 0x11 Servo warning activated 0x12 Position command overflow se m July 2014 3 103 ASDA Soft User Guide Chapter 3 Advanced Operation Users can set the digital output DO status as a contact frequently open or b contact frequently close Control Mode Selection P 1 01
20. 165500 zE On OFFEE T PF Path ACO 1200 ms PS 27 165500 Z EpL RHEA i ACOs 1500 ms PS 28 165500 BRYESRERESE acog 2000 ms PS 29 165500 peteta l AC10 2500 ms PS 30 165500 See i acl 3000 ms P5 31 165500 I pr o1 1 0 l Aci 5000 ms PS 32 165500 l preoz TiO l AC13 8000 msi PS 33 165500 at I Pros T l aci4 50 ms PS 34 165500 I PR 04 T 0 I ACIS 30 ms P5 35 1 65500 l PR 05 T 0 l P5 40 P5 55 Delay R TET l P5 60 P5 75A HAEREERE l i l p PR O7 T 0 l p PR 08 T 0 i PR O09 T 0 l l PR 10 T 0 Il i l pr it TO Il y TE i L TE EE N E L E E EE FR Mode ktH FrMod Fara Thed Suspended From ASDA A2 Servo ASDA A2 Serva a Firstly introduces Toolbar AS04 47 Series Type Serve ver 19359 ede a amp P i Save as a file save the PR mode as a parameter file amo Wan 4 ee Pi 5 Oat co ee SORES a Bg FR a Eu TA raf TATE 3 Le FH Ham 4 64 HER SRE l O PASARTE pooo o Faes e July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide la Open files exo Gam qf Rat R aJ PEDENN PASC OALE I BAM Beles O Ty E New edit A confirmation window will pop up Please make sure if desire to close the Current setup status Delta ASDA Soft IER iar Gets Tete Til Load from servo Load the related parameters of PR mode from servo drive to the software for edi
21. 3 42 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 7 When the above mentioned inertia ratio is altered bandwidth and gain value will be adjusted too onde ares Fe E P1 37 Load Inertia Ratio 0 2 iw 0 0 P2 00 Position Loop P gain 1390 v aa P2 02 Position Feedforward 50 w 0 P2 04 Speed Loop P gain 1563 Iv P2 06 Speed Loop I gain 249 v P2 25 OSC Reject filter 0 1times 16 w 55 P2 26 External Noise Reject 249 w 30 P2 49 Speed Detection Filter and Jitter Suppress 4 x S 4 04 14 Bandwidth Hz max 1023 3 s Please pay special attention to the variation of bandwidth From the above example the value is adjusted without load so the bandwidth estimated by the system is 249Hz However for general mechanism high response setting is unnecessary Users can adjust the bandwidth and gain value according to the real situation Step 8 Click 7 to download the new value into the servo drive gt Weg Value of P2 49 will not be adjusted by system It should be set by users P2 49 Speed Detection Filter and Jitter Suppress 04 1800 M Bandwidth Hz Following is the diagram of speed control P2 49 low pass filter is used to process the feedback signal of encoder which could reduce the interference and the error occurrence caused by speed control loop Its setting value is from 100 to 2500 Hz Speed Control Black Diagram i System inertia J i 1 P1 3
22. Capture CAP Compare GMP simiesussssevansvarauorivandusvguasiuaysuansvavauayavaveusubes 4 104 vi July 2014 Table of Contents ASDA Soft User Manual WATE MAGE TW OOU COM issih EE EEE 4 109 FUNCION orepcntnantecianeiecsannttaretnensnin T sem iarasnentaa nena anand 4 111 DAANEN O aemmrcmmrern emcees mcr einen er ere erento ere mere er ere mer ere 4 127 EXAMP asec tie irc ah pce sre en ee tte ech ttt ale ta ti 4 133 July 2014 Vii ASDA Soft User Manual Table of Contents viii July 2014 Chapter 1 Environment and Software Installation Summary ASDA Soft version V4 08 04 should be stalled in Windows system This software can connect to ASDA series servo drive via standard USB communication cable or IEEE 1394 communication cable Delta does provide standard communication cable for software Please refer to ASDA A2 B2 product catalogue from Delta s website for further detailed information Please refer to the user manual of ASDA servo drive as well CONA 1 Microsoft Windows is the registered trademark of Microsoft Corporation in the United States or other countries 2 IEEE1394 communication cable uses RS232 interface and does not support scope function Applicable Servo Drive This software is for Delta s ASDA series servo drive only Other brands of servo drive will not be applicable The corresponding servo drives are ASDA A2 ASDA B2 ASDA A ASDA A ASDA AB ASDA B ON servo drive opera
23. PR 10 T 0 PR 11 T 0 In addition when users did modify the setting but not download the changed one into the servo drive the modified area will show the symbol of css 4 68 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Electronic Gear Ratio Software Limit Decel time of protection Event ON OFF Setting Homing Setting Homing Mode Homing Speed Setting Homing Definition c Main Setting Window y l P1 45 Electronic Gear Ratio Denominator M 10 P5 08 Forward Software Limit P5 09 Reverse Software Limit jectronic Gear Ratio lt means the setting is gt modified but hasn t been downloaded into the servo drive l P1 4 Electronic Gear Ratio Numerator N1 128 2147483647 1 4ATARIEAR 194 00 v P5 03 Decel time of protectin l PL CCWL NL CWL 1 536870911 1 2147483647 Enable 2147483648 2147483647 Enable 2147483648 2147483647 AC15 30 P5 35 AC15 30 P5 35 AC14 50 P5 34 AC14 50 P5 34 AC15 30 P5 35 AC14 50 P5 34 4 4 4 4 4 4 P5 98 P5 99 External Event ON OFF Setting EV1 Event ON l EV2 Event ON l l EV3 Event ON l EV4 Event ON l EV1 Event OFF l EV2 Event OFF EV3 Event OFF Function Setting Do nothing 4 4 4 4 4 4 4 4
24. Setting and Monitor Parameters Setting be ensure to press Change to write in the setting into the servo drive 2 When completing the above selected parameters please press Save Change to setup the selected monitor parameters group Users can also use Select All and Cancel All for one time setting 2 11 ASDA Soft User Guide Chapter 2 Basic Operation 2 5 Window Description When open more than one windows the item in window can help to arrange the window display Window Help Message Window Cascade Tile Horizontally Tile Vertically Ese e Minimize All ASDA Soft provides various selections of window display such as Cascade Title Horizontally Title Vertically and Minimize All In addition Message Window can display the warning message or fault message of the system when setting up or reading writing parameters The upper right corner of Message Window lhas two buttons S means to hide the window while means to close the window WF bets anna tne ee Fle Seteng Tosh Faiet Feces Viides Hele Bel BA ODP bd Qotu e Cascade Peame I deiner Peali jara bread Guapaereched Pym 2 12 July 2014 Chapter 2 Basic Operation ASDA Soft User Guide Dita ALDM Gaf Peete lech Parret fuben Wraber Helo CENTY LETATI U Paremeter dior PEDA Seran A Gat tam gi Mpo oa E Tea enor i
25. TEREE EEE eee eRe eee eee eee eee eeeeeeReReeeenen eno be ParaThd Msg 201 Cmd 0 Step 7 Since it is in dual mode the system provides setting blocks of position PT and PR mode Setup Position PT Mode first July 2014 PR Mode Setup Internal Speed Torque 3 149 ASDA Soft User Guide Chapter 3 Advanced Operation The screen on the right will be switched to the one as below 4 Parameter Initial Wizare Lo fos 2 Padlo amp trol Mode Selection P 1 01 0x0D PT PR Position control mode v k Control Mode is changed Must Reboot Drive to Enable Setting Position Mode Parameter Setup Type of Pulse Command Input P 1 00 X Z Target Position Error Range P 1 54 Logic Type P 1 00 Z Positive Logic 12300 Pulse 0 1280000 Over Position error Threshold P2 35 840000 10 Pulse 1 128000000 EEEE EEEE E Electric Gear Numerator Setting P 1 44 P1 45 4 123 1 536870911 12 80 j10 1 2147483647 128 1 536870911 oO a Geari Gear2 0 Open collector for low speed pulse 1 Line driver for high speed pulse 128 1 536870911 Gear3 _ _ 12 80 10 Pulse Command Filter P 1 08 C Yes fo Unit 10ms e m 70911 0 1000 Gear4 _ ____ 12 80 NO i 10 Din must Select GNUMO 1 ee ee eee ParaThd Msg 201 C
26. The source could be motor encoder switch of CAP function It is set by P5 39 X bit 0 This function can be enabled only when all necessary setting is set CAP active signal When DI7 is triggered it captures the axis position shown in P5 37 of source axis and store the data in data array P5 39 Z can set whether the CAP function is triggered by rising edge of falling edge of DI7 signal P5 37 It displays the position of CAP axis P5 36 The CAP data stores in the start address of data array P5 38 It sets the total CAP amount After settings of P5 36 start address of data array P5 37 axis position of CAP axis and P5 38 CAP amount are complete next step is to setup Capture actions T Capture actions While the position of source axis is changing P5 37 will also vary according to the source axis Once DI7 is triggered if P5 38 is not 0 the value displayed by P5 37 will be written into data array Several ways are provided to setup high speed CAP 8 When it captures the first item if Bit1 of P5 39 X is set value set in P5 76 will be written into P5 37 and data array as the captured first value The value of P5 37 will increase or decrease based on it This is the concept of increment counting July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide 9 When it captures the first item if Bit2 of P5 39 X is set CMP function is enabled 10 The value of P5 38 will automatically subtract 1 afte
27. gt For Windows please change the screen property to Windows Classic mode gt For Windows XP change the themes of Windows XP 1 to Windows Classic inthe Appearance tab under control panel screen gt For Windows Vista or Windows 7 change the themes of Windows Vista to Windows Classic in Personalization 6 ASDA Soft builds closed loop data exchange with servo drive through continuous data transmission If users open more than one operating procedures ASDA Soft might occupy a lot of memory space It is suggested that not to open other software which also needs a huge amount of memory capacity when performing tuning or motion control testing This is for avoiding error occurs during operation ON 1 we cannot ensure that ASDA Soft can operate properly in non Windows operating system 2 The latest version released in November 2008 corresponds to Windows XP and Windows Vista Version released in February 2012 corresponds to Windows Other Windows operating systems might be not compatible 3 Do not activate more than one or different version of ASDA Soft to operate ASDA servo drive This might cause ASDA Soft operation abnormalities 1 2 July 2014 Chapter 1 Environment and Software Installation ASDA Soft User Guide 4 lf figures in this manual are different from the latest ASDA Soft on Delta s website please take the one from the website as the final version July 2014 1 3 ASDA Sof
28. 01332 000 Sao0 Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 We reserve the right to change the information in this catalogue without prior notice DELTA_IA ASD_ASDA Soft_UM_EN_ 20140710 SPIN 49SN IOS VGSV ASDA Soft User Guide www delta com tw ia A BELTA Copyright 2007 Deta Electronics Inc All rights resemed IN NELTA Important Notice Different device has different features and operational ways Technical personnel who is in charge of operating the software shall implement appropriate measures and follow the instructions of the user guide Delta will not take responsibility for the results of unauthorized modifications of this product Delta shall not be liable for any damages or troubles resulting from unauthorized modification The drawings presented in this user guide are typical examples and are only used for functional description However there must have different demands and variations in practical operation and settings It is not suggested to do any practical application and Operation in accordance with the examples in the user guide Delta will not take responsibility for it No patent liability is assumed with respect to the use of the information contained herein No part of this work may be reproduced in any form b
29. 022 Mapping parameter Return the value of parameter PO 28 which is mapped 16h 4 by P0 38 17h variable 1 monitor variables mapped by PO 17 O1 gt OD gt 024 Mapping monitor Return the value of parameter P0 20 which is the 18h variable 2 B monitor variables mapped by PO 18 025 Mapping monitor Return the value of parameter PO 11 which is the 19h variable 3 B monitor variables mapped by PO 19 026 Mapping monitor Return the value of parameter PO 12 which is the 1 Ah variable 405 monitor variables mapped by PO 20 The processed DI status of the servo drive Each bit 039 DI status processed corresponds to one DI channel 27h The source includes hardware channel software P4 07 which is determined by P3 06 040 DO status hardware The real status of Digital Output hardware Each bit 28h corresponds to one DI channel 041 Return the value of PO 46 Please refer to the July 2014 3 13 ASDA Soft User Guide Chapter 3 Advanced Operation Code Neme Oi Variables Descriptions Attribute 29h LL description of the parameter The Data captured by CAP hardware from the latest CAP data capturing time Note CAP could continuously capture many points he Auxiliary encoder CNT aa of pulse counter from auxiliary encoder 049 Pulse command CNT The value of pulse counter from pulse command CN1 050 E H The processed speed command The unit is 0 1 r min 32h Di Dec The source might be
30. 1005 i X Cancel 1005 nn nd 1701 1705 r Step 2 Then click Step 3 The system will convert the version Then the following screen will pop up July 2014 3 83 ASDA Soft User Guide Chapter 3 Advanced Operation Meia ADA Cae Delta ASDA Soft 2 il Bass TY Qu 6 x 99 E MEN fiar Det Pi bF Tal Raad al P me f Ira DF fa Ready parirati bse Wale f he TO al Rend nny paramai an he Fi 4 Raad oniy parameters pi FF i arpa Oriy pararetersi Pr 7i AI Rend ory pararem an 7 Tal Rend ai EH Def Version Conversion OK PF 42 4 Foeud ondy parameters Lee Default Vales 1 PY Si ifa Read oniy parameters Default Yahir 1 P2 32 A1 Read only parameters fiee Chef seat aoe 1 PF 6 6 hia eee arian of fa kor ef aid I PF i G he ot eed attribution of Ta Lhar iiet PY 04 0 Mem or Signed attribution of Ta Uae Default Wakes 1 Py Field Lyla ply tap openbaar ne ate F Fi TE es cx Signed abteibution af Ta Hiu Wahr PJ ad Al Read ody prame lhat Wales j Pa 14 al Read oy bear ea 15 i A Raad oniy parastani laut Wahr 1 Pa na Lo gle wees the Detant Pi Gn TA kand oniy pammatani Une Thef auk Vaky Pa Od A Poeadondy p rantan fikse Deena ahaa 3 mid TJ jA Pied only parimates l i PA EH 4 Paad ondy parameters Dlani Vahe P3 15 4 Read only parameters Use Default Value P4 00 4 Read only paramet
31. 12 Case 2 2 Position 3 PR Jump PR Write PR Position 3 X Write H D 0 S 20 0 rpm 2 DLY 0 10 DLY 0 11 D 0 S 100 0 rpm 12 DLY 0 200000PUU IN l PR 10 I P5 55 10 ly 300000PUU IN I P5 55 12 PR 1 PR 2 PR 10 PR 11 PR 12 1ms group PR 1 to PR 12 total 5 PRs less than 8 PRs will be read in at one time This is because they all have insertion setting PR 1 has no chance to stay in Motion Command Generator for more than 1 ms and it will be kicked out by PR 11 PR 2 PR 10 and PR 12 will be executed However the final result will be P5 55 12 since the result of PR 10 will be covered by PR 12 The motor will operate 300000PUU by 100rpm and P5 55 12 Case 3 pp Position 3 pp Jump PR Write PR Position 3 X Write H D 0 S 20 0 rpm 9 DLY 0 10 DLY 0 11 D 0 S 100 0 rpm 12 DLY 0 200000PUU IN PR 10 I P5 55 10 I 300000PUU INC I P5 55 12 PR 1 1ms group PR 2 PR 10 PR 11 PR 12 1ms group PR 1 to PR 2 are sequent command since PR 2 has no insertion setting It will be executed no until all PR group is done and releases the resource After PR 1 is complete the next PR group will start from PR 2 to PR 12 The result of the second group is that PR 11 occupies Motion Command Generator and PR 12 occupies PR Executor until the command is complete July 2014 Ch
32. 3 while capturing is complete trigger PR 50 PS 39 Y axis source O Capture Disable O 2 Pulse CMD 1 Auxiliary Encoder 3 Main Encoder P5 39 Z Trigger logic 0 NO 1 NC P5 39 U Trigger time interval 2 O 15ms Capture options If you choose While capturing the Ist point set CAP axis asP5 78 the blank can be used to set the value of P5 76 There is no need to set It up in Parameter Editor P5 39 X Capture Options E 1 while capturing the ist point set CAP axis as P5 76 9 2 while capturing the ist point enable CMP function 3 while capturing is complete trigger PR 50 July 2014 A ASDA Soft User Guide Chapter 4 Description of Motion Control m Axis source If it is set to main encoder then the position of CAP axis will be the current feedback position of motor encoder PS 39 Y axis source O Capture Disable 2 Pulse CMD 1 Auxiliary Encoder 3 Main Encoder E Trigger logic P5 39 Z Trigger logic g NO 1 NC m Trigger time interval The range should be between 0 and 15 ms P5 39 U Trigger time interval 2 O 15ms When the above setting is all complete click Ml write CaP Parameters to download new parameters into the servo drive P5 37 P5 38 and P5 39 are volatile parameters which will return to the initial value after re servo on Use the function of ON LINE operation to simulate the action and to make sure if the setting can satisfy the demand Enable
33. Chapter 4 Description of Motion Control ASDA Soft User Guide Step 3 When the setting of E Cam table for two sections is complete combine them with one another First open the page of Manually create a table Laod From Data Array P5 81 Start position of Data Array 100 Load Data From CAP Array to Table P5 82 E CAM Area Number 5 Specify Array Address Start Address 20 Area Size 20 Point Size 21 Fok Create Table Create Table Set the E Cam area number as 400 and click i P5 82 E CAM Area Number 400 P5 81 Start position of Data Array 100 Laod From Data Array LEDERER Load Data From CAP Array to Table Specify Array Address Start Address 20 Area Size 20 Point Size 21 ho Create Table To 200 All paints Save integer only Seperate symbole Tab io ocr Import points Load in the first section which has 200 parts Its range is between 0 and 200 Then load in the second one which is from 200 to 400 The end position of the first section 200 should be overlapped with the start position of the second section 200 July 2014 5 ASDA Soft User Guide Chapter 4 Description of Motion Control Load in the first section first The range is from O to 200 From To 200 All points Select the file with forward curve C Documents and Settingsikevin kc tani m ERS tet Click OK to load in the first section Then load in the second
34. I l 1 DEC Time Index of decelerating from rated speed S000rpm ACOO 200 P5 20 m 333 ms 7 m Jaan Target Speed A a j 1 L Target Speed B a 7 i L F 7 j L a s gt le gt lt l o Dec Time A Acc Time B Target Speed A Target Speed B Dec Time A Acc Time B CMD End of position command Cmd_E CMD End of position command aS 00 ABS Absolute Position CMD DATA E 01 REL Relative Position CMD Current PositonDATA g 10 INC Incremental Position CMD Previous CMD DATA T 11 CAP Capture in high speed CMD Captured DATA 4 position commands are provided by ASDA A2 PR position control mode 1 Absolute command Value of position command is the coordinate position No matter where the motor stops it must stop at the position of position command at the end 4 90 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide 2 Relative command Value of motor s current position plus position command is the target position which is the position the motor might be referred to 3 Incremental command End position of current position command plus the value of new position command will be the new target position The position command takes the target position of current command as the reference position 4 Capture in high speed The new target position is the value of Capture plus the value of position command The position command takes the last captured value in data array
35. Internal Register 2 Internal Register3 DI O Setup 60000 60000 60000 60000 60000 60000 Common Setup Position Mode Setup PR Mode Setup 0 Di function 1 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 ParaThd Msg 201 Cmd 0 0x0E PT PR S Multi Control Mode Position and Speed Mode Users can switch two Di signal to setup PT PR and S mode via this function With Parameter Initial Wizard users can quickly setup DI and these 3 modes Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x00 PT PR Position control mode 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed contral mode 0x09 PRT Position control mode Torque control mode Ox0A 5 T Speed control mode Torque control mode 0x06 CANopen Mode IR Position control mode July 2014 4B ASDA Soft User Guide Chapter 3 Advanced Operation Step 2 Select multi control mode The setting block on the left will show as below PR Mode Setup Speed Mode Setup Internal Speed Torque step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DI4 DIS DI DI 0x23 Fo
36. N index position control data setting represents Total Indexing Distance PUU which is the total PUU value of indexing Each part of the indexing is equally divided by the total one If the value is set too small it might cause indexing coordinate error The range of parameter value should be P2 52 gt 1 05x max speed r min x 1280000 Z P1 45 60000 P1 44 P1 45 P1 44 P2 52 gt 22 4x max speed r min x The above mentioned indexing function is for users who already knew the indexing coordinate and indexing setting Users can manually setup the indexing path For those who desire to complete the indexing program via software Indexing Coordinates Wizard provided by ASDA Soft will be a great tool This Indexing Coordinates Wizard is for users who would like to arrange a new set of indexing procedure Users can arrange and setup the indexing point with simple specific requirements The following is the main page of this function C E ASDA Soft baba l Index Coordinates Setting Wizard Startof PR Path 1 0 set the interval between two paths Knife numbers Path Size 10 P2 52 Indexing Coordinates Scale PUU 100000 Knife numbers Path Size INS Interrupt the previous path 0 Nno 1 YES OVLP It is allowed to overlap the next PR When overlapping please set DLY to 0 0 Nno 1 YES DIR Moving Direction 0 Always move forward forward rotation P2 52 Indexing Coordinates Scale PUU
37. P2 45 P2 46 Then click Download parameter Step 6 The third system analysis 7 System Analysis io A Bode Data Resonance 1 Resonance 2 Resonance 3 Read Gain Parameters Pi 37 15 P2 00 166 P2 02 50 P2 04 755 P2 06 120 p2 23 1000 P2 240 P2 25 13 P2 26 120 P2 45 697 P2 44 32 P2 45 664 P2 46 15 Button July 2014 TRO BHOOOO JF Base Gain Parameters A Line Analysis Data B Line Compare Data Set to B Line 37 dB Rated Currentt 50 a Stop Servo x 3 99 ASDA Soft User Guide Chapter 3 Advanced Operation From this graph the size of resonance point is over 10 dB about 17 dB Try to adjust the gain again Step 7 Gain tuning for the fourth time Increase the bandwidth from 120 Hz to 200 Hz until Phase Margin is between 30 40 Auto Gain Tuning Off line Computation Enable Gain Control Panel ASDA A2 Selecting Enable Gain Control Panel will temporarily change the operating Rigid Holding 1 mode to Pr Mode P1 01 001 and alter the following parameters Bandwidth 200 f Hz Ratio of inertia 1 5 P0 06 08 P1 15 18 P1 34 36 a P2 10 17 P2 36 37 P3 06 P4 07 b Read All parameter changes are temporary Parameter Closing the control panel and cycling In Drive power on the amplifier will restore the P1 37 Load Inertia Ratio original parameter values P2 00 Position Loop P gain P2 02 Position Fe
38. ParaThd Msg 201 Cmd 0 July 2014 3 163 ASDA Soft User Guide Chapter 3 Advanced Operation This page is intentionally left blank 3 164 July 2014 Chapter 4 Motion Control Introduction Users learn how to use E Cam PR mode and data array for different applications in this chapter 1 E CAM 2 PR Mode Setting 3 Capture Compare July 2014 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 1 E CAM a E Cam is the built in function in ASDA A2 series servo drive Its advantages are i 2 3 Increase the power efficiency Without the friction among machinery parts it reduces the power consumption E Cam shape is easy to change E Cam shape can be changed simply by modifying the E Cam curve Machinery maintenance It is simulated by software Wide range of application E Cam software is applicable to any application which is required to use E Cam curve Flexibility One master axis can command several slave axes It would be more difficult when doing it by machine cam With built in E Cam function ASDA Soft stabilizes the control system and enables the servo drive to complete motion control command such as synchronous conveyor flying shear and rotary cut Followings are the main features of E cam gt gt lt provides diversified Table Creating Wizard Users could easily complete each kind of E Cam application 720 points of E Cam contour can be done by man
39. Set the compared number via P5 58 Output pulse can be set in P5 59 CBA Enable CAPTURE function 4 It is invalid if CAP function is enabled already POS 1 POS 2 POS 3 N POS N 4 After the last pulse outputs completely Non cycle mode CMP is complete set P5 59 X0 to 0 Cycle mode Compare the 1 point again value of P5 59 X0 is 1 Next we are going to introduce the main setting screen of software Window of Capture Compare Capture CAP Compare CMP A aae CaptreLompae Data Array Editor CAP DataAray Update Capture CAP Parameters PS Capture artary start address 8 0 795 0 goo 5 37 Capture ade positon PS 38 Capture Amount A PS 39 Capture Enable Control PS 39 X Capture Opters P5 39 Y i ans source O Capture Disable ivandiary Encoder P5397 Trigger logic 0 NO P5 39 U Trigger time riterval 2 Enable ON INE Operation Comperc CMP Parameters 5 9 Compare Enable Control 5 99 X Compare Optens P5 59 CBA Outsut puise A gt d etsi tehle capturing He ist pownt set CAP ants as P5 76 Zahle capturing the ist paint enable CMP furxtion Srwhile capturing is complete trigger PR 50 2Ps OM 3 Main Encoder 1 NC O LSens I Read CAP Parameters Sije Parameters fk oeie P5 56 Compere Arrary start oddress 30 0 799 P5 57 Compare axle poste o P5 58 Compare Amari l 1 teate data arrai Lefter comparing the last pomt restart
40. The average load output by the servo drive The unit is OCh Average load percentage The maximum load output by the servo drive The unit ODh Peak load is percentage OEh DC Bus voltage Capacitor voltage after rectification The unit is Volt 015 Inertia ratio Ratio of load inertia and motor inertia The unit is 0 1 OFh B times 3 2 July 2014 oO D as 3 A s Chapter 3 Advanced Operation ASDA Soft User Guide Code Name of Variables Descriptions Attribute IGBT temperature JE The temperature of IGBT The unit is C 016 10h Resonance frequency of the system including 2 groups of frequency F1 and F2 When monitoring via panel pressing SHF can switch Resonance frequency the display of both F2 shows no decimal point while F1 shows one When reading through communication mapping parameter Low 16 Bit Low WORD returns frequency F2 High 16 Bit High WORD returns frequency F1 The offset between the motor position and Z phase 018 Z phase offset The range is from 5000 to 5000 12h B If the position is the same as Z phase its value is 0 The bigger the value is the more the offset will be 019 Mapping parameter Return the value of parameter PO 25 which is mapped 020 Mapping parameter Return the value of parameter PO 26 which is mapped 14h 28 by P0 36 021 Mapping parameter Return the value of parameter P0 27 which is mapped 15h 305 by PO 37
41. There are 43 command selections of digital input Users could directly set it up via the drop down menu 0x0 1 Servo Or Toxo Gain aad 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit0 ition command selection 1 64 Bit1 Users can set the digital input DI status as a contact frequently open or b contact frequently close Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Output DO Setup P2 18 P2 22 3 98 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide There are 35 command selections of digital output Users could directly set it up via the drop down menu 0x0 i Servo ready 0x0 1 Servo ready 0x0 Servo On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x 10 Gutput overload warning 0x11 Serve warning activated 0x12 Position command overflow pn me ee Fe Bee Ben Users can set the digital o
42. Torque control mode Ox0A 5 T Speed control mode Torque control mode 3 140 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide step 2 Select Speed control mode Torque control mode the setting block on the left will show as below Torque Mode Setup Internal Speed Torque step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DIS i contactb There are 43 command selections of digital input Users could directly set it up via the drop down menu 0x02 Alarm Reset 0x03 Gain switching 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x 10 Speed limit enabled 0x11 Position command selection 1 64 Bit ae 0x12 Position command selection 1 64Bit1 loll Users can set the digital input DI status as a contact frequently open or b contact frequently close DI1 0x0 i Servo On July 2014 oo ay ASDA Soft User Guide Chapter 3 Advanced Operation Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDTi4 0x00 Disabled contacta contactb EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO
43. commonly used or important tool _ Status bar it displays ASDA Soft FRIE ASDA Ae Servo the current status of software July 2014 OO a ASDA Soft User Guide Chapter 1 Environment and Software Installation This page is intentionally left blank rr Chapter 2 Basic Operation Introduction ASDA Soft on Delta s website provides different version of operation software These versions are for new series of servo drive and contain various advanced function for product applications Basic operation non programming function will be introduced in this chapter Users can learn how to setup software communication port interface and language Functions that will be mentioned in this chapter are 1 File 2 Setting 3 Language 4 Status Monitor 5 Window 6 Help July 2014 2 1 ASDA Soft User Guide Chapter 2 Basic Operation 2 1 File Description Click File could open parameter file and scope data file File Setting Tools Parameter Func oe ee Open Ctrl 0 Ga Open Parameter File par fj Open Scope Data File scp Click amp 8 window that showed below will pop up Hea 9 ROBIE HRT Cc OOI rare 0 HAJTE attt E LDD XR IF Se FreeAgent Drive H pP pened iF HAJEE Hi E LATEM te RAUTY AJ files Lon 2 2 July 2014 Chapter 2 Basic Operation ASDA Soft User G
44. s 2 jp Pes sion 5 IDLE Slup arta 5 10 Destinztion L 100002 l L j katres Fes 4 gt s F iJ Creste Tabi 4 evu _Downoad Table Burr Table Data TENSES E TEEN Ee BS Be EN NEN TOOTO 46 ry i j aan 3300 512 PUU S p 1606 009 PLILI s x 59402 M ai E roston r Beso ru LSS mm l S i me Ser Pa i ag LA aE Ue a Es eee Pe Eo nes Nee eae Re 25060 10 IPUL E 7 S5pesd vi 3086 111 TUJ 00309 mms a SEB Poss a Accesrstion ALY P ae ee eee ee pe E S 000 TAA gt e 390 z sine o 21333 PUIS 0 50 69 9c 12 130 10 210 240 270 300 350 360 Fanel2 F CAM Edi tor AS DA iSo ASDA ier Sena The table filling steps in this example is almost the same as the above description The difference is on Step 4 when selecting Based on P5 84 pulse number calculate lead pt There is no need to fill in Destination L in Step 3 when selecting this option However users have to self calculate the value of P5 83 P5 84 and fill in the value in Step 5 P5 83 E CAM Cyde Number M 1 P5 84 Pulse number of master axis P 10400 Pulse number of master axis P corresponds to E CAM table M cycle In Step 6 the system will calculate the destination of slave axis according to the value in Step 5 This function is selected when the traveling distance of slave axis is the same as master axis Next the des
45. 07 TFT oo i m l 1000 0 F rnooth Constant of Analog oe oe P1 08 PFLT o m i 0 1000 0 SmootCoggtant of Positio Ox0000 Ox0013 Ox0000 Pi 09 SP1 1005 O ir min E 60000 60000 1000 l ist Speed Commame Limit 5 P1 10 SP2 0 1r min l 60000 60000 2000 2nd Speed Command Litt igs 0 100 100 P1 11 SP3 0 1r min 60000 60000 3000 I xa Speed Command Limit j P1 12 TQ1 moo 40 300 100 1st Torque Command Limit J 100 100 P1 13 TQ2 100 300 300 100 l 2nd Torque Command Limit m NA P1 14 TQ3 100 lf 300 300 100 l 3rd Torque Command Limit 0 1000 0 P1 15 iF 0x0000 Ox 1F SF 0x0000 CAPTURE SYNC AXIS Thri P 1000 o P1 16 _ On 32768 32767 0 CAPTURE SYNC AXIS Offi LI P1 17 ms 20 000 20 000 0 000 l Tracking Error Compensatic P1 18 ms J 20 000 20 000 0 000 J Eiectronoic Cam E Cam P 0 1000 0 Pi 19 0x0000 0x0000 0x0101 0x0000 CAPTURE COMPARE Ad P120 ooo 0 100900000 0 J CAPTURE Masking Range 60000 60000 1000 P1 21 o Kps 0 30000 0 Electronoic Cam E Cam Pt P1 22 J oxo000 0x107F 0x0000 PR Special Filter Settings 60000 60000 2000 P1 23 oo o O 10000000 10000000 0 Compare data offset Value Pi 24 m l i2768 ma ma Owe COMPARE Compare data 50000 60000 3000 P1 25 VSF1 1000 o 10 1000 1000 Vibration Supression Freque 300 300 100 300 300 100 300 300 100 3 80 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide i The 14 row is the parameter descriptions Move the cursor to the
46. 1 Enable E CAM and select Speed Fitting Creation A nh 4 b Please select one way to create E CAM Table SS T EE E E EY s i SEC o e Seo a Step 2 Click to enter the page of Speed Fitting Creation TERILI an nt Speed Section T Sketch Table a P5 81 Start position of Data Array SEC ace P5 82 E CAM Area Number IDL CONST IDL Step 2 2 SS N a T a Speed gt Creati IDL1 Waiting Area ACC Acceleration Area gt SPD i CONST Constant Area o So N DEC Deceleration Area gt l SSe e IDLE2 Stop Area Destination L 100000 PUU 5 Curve No 10 Manually input P5 84 pulse number amp lead pulse Create Table Information Simulation z5 Unit mm E Slave Pulse 100000 PUU l Master Pulse V 100000 opse e TR DE Bd fet ie da Pe e a Poe a Re fet fd fe Master Simulated Speed 100 pulse s 0 001 mm s lawe Information C a o a e r AA A o a aad a Ty ee aa A a e dd ia ay tui bale A iY ol m speed v ru Bons CPPS I hy a N e e a e Pe plie e i ba Acceleration ay July 2014 4 25 ASDA Soft User Guide Chapter 4 Description of Motion Control Step 3 To create E Cam curve base on the traveling distance of slave axis See the following 5 steps AAR ME E pees
47. 1 64 Bit Ox 12 Position command selection 1 64 Bitl ee Users can set the digital input DI status as a contact frequently open or b contact frequently close July 2014 3 125 ASDA Soft User Guide Chapter 3 Advanced Operation Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Output DO Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu x0 1 Servo ready O0x02 Servo On Ox03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x10 Output overload warning 0x11 Serve warning activated 0x12 Position command overflow Y mW Users can set the digital output DO status as a contact frequently open or b contact frequently close 3 126 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 6 Common Setup x07 PT T Mode i 1 Parameter Initial Wizard y Esanda tise az PT T Position gene tat control mode ara Maa mi Must Reboot Drive to Enable Setting 0x02 S Mode 0x03 T Mode
48. 128 v A 0 1000 jka Gear4 ae ai NO l1 10 DIn must Select GNUMO 1 L 4 L PHRBRBRHBRBEHBR EBB BE BRB BERR BPR RPP eee eee eee eee ieee eee REPRE E RRR RE RE RRR RES SE SE T Lae eee eee ERE RSE RE EE SE ParaThd Msg 201 Cmd 0 N Step 8 If users desire to setup PR mode click the fourth block and the main screen will be as below 3 100 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The prompting message in main screen Setup the PR Mode in PR Mode Setup ih trol Mode Selection P 1 0 e PR Position control mode v co Mode is changed Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup form Step 9 If users desire to setup speed or torque limit click the fifth block Internal Speed Torque The screen on the right will be switched to the one as below Bado a e ee Control Mode Selection P 1 0 Posit if Control Mode i Must Reboot Drive to Enable Setting m E fr is changed ve Setting EEEN RRR RRR RRR RRR eee ee ee eee eee eee eee eee Y Speed Torque Limit Setup P1 02 X speed 0 Disable speed limit function 1 Enable speed limit function only for T mode gt Speed Command Limit Source P 1 09 P 1 11 DIn must Select SPDO or SPD1 __ 0x02 SMode _ 9x03 T Mode BOTETE 0x05 Tz Made 10x06 PT S Mode f 0x07 PT T Mode ECCA 0x09 PR T Made
49. 14 row the cursor will become a question mark and shows Double Click to Activate Help ist Speed Command Limit 2nd Speed Command Limit ard Speed Double Click To Acitivate Help 1st Torque 2nd Torque Command Limit ard Torque Command Limit Then the following documentation will pop up for users reference l Delta ASDA Soft Software manual EA FIED ETA CO EK Delta ASDA M Software Manual P1 09 so 1st Speed Command or Limit Address 0112H 0113H Default 1000 Related Section Section 6 3 1 Applicable Control Mode S T Unit 0 1 r min Range 60000 60000 Data Size 32 bit Display Format Decimal Settings 1st Speed Command In Speed mode this parameter is used to set speed 1 of internal speed command ist Speed Limit In Torque mode this parameter is used to set speed limit 1 of internal speed command 3 Description of parameter status ie Read Only A Set While Servo OFF ae Valid After Reboot i Volatile Parameter The parameter shared by Read only It only can access the status of parameters Unable to setup parameters when Servo ON Parameter is not effective until re power on the servo drive Volatile parameter Hor Parameter for three axes It marks parameters for three axes for ASDA M series servo drive Parameter Configuration Between two different firmware versions of servo drives Parameter Configuration is for switchin
50. 4 Description of Motion Control 4 114 The right window shows the related parameters of CAP Capture CAP Parameters P5 36 Start address of CAP data array o 07799 P5 37 Capture axle position 0 P5 38 Capture Amount 1 1 P5 39 Capture Enable Control P5 39 X Capture Options l while capturing the ist point set CAP axis as P5 76 0 2 while capturing the ist point enable CMP function 3 while capturing is complete trigger PR 50 PS 39 Y axis source O Capture Disable 2 Pulse CMD 1 Auxiliary Encoder 3 Main Encoder P5 39 Z Trigger logic 2 0 NO 1 NC P5 39 U Trigger time interval 2 O 15ms Z Enable ON LINE Operation lt q Read CAP Parameters Si Write CAP Parameters R Disabled Users can quickly setup the start position of CAP data array here which is the same as the setting method of Parameter setting and operation procedure gt Start position of CAP data array P5 36 Start address of CAP data array a 0799 Setup the start position of writing the CAP data Please note that if the start position of E Cam data is also 100 and the area number of E Cam is 4 if the setting value of P5 36 Start address of CAP data array and P5 38 CAP amount is the same as E Cam an error data in data array is overlapped will occur lf the start address of data array is set to the same a warning message will pop up wheancick Sai Write CAP Parameters l Warning The start address of
51. 55 0 32767 aw July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide P5 60 P5 75 Internal Target Speed POVOO 20 0 r min P5 60 0 1 6000 0 Accel Decel Time POVO1 50 0 r min P5 61 0 1 6000 0 Delay Time n o oe 100 0 P5 62 0 1 6000 0 POVO3 200 0 r min P5 63 0 1 6000 0 Internal Target Speed poves 300 0 r min P5 64 0 1 6000 0 POVOS 500 0 r min P5 65 0 1 6000 0 POVO6 600 0 r min P5 66 0 1 6000 0 The unit of 16 sets of diced a eee POVOS 1000 0 r min P5 68 0 1 6000 0 internal target speed POVOS 1300 0 r min P5 69 0 1 6000 0 POV10 1500 0 r min P5 70 0 1 6000 0 is r min Its setting POV11 1800 0 r min P5 71 0 1 6000 0 range is from 0 1 to POV12 2000 0 r min P5 72 0 1 6000 0 POV13 2300 0 r min P5 73 0 1 6000 0 6000 0 r min POV14 2500 0 r min P5 74 0 1 6000 0 POV15 3000 0 r min P5 75 0 1 6000 0 When the setting is complete click Download to write parameters into the servo drive or use ll write all into the servo to download parameters Click it and the following window will pop up Please select Speed Time Setting Parameters first and click ali to complete the setting H ASDA Soft Sa Select the range to download E Select All Fal Speed Time Setting Paramters General Setting Parameters Homing Setting Parameters m a All PR Path Parameters
52. 8 JIJE TNIE 1 046 1 046 1 046 E 0x0000 OxFFFF 0x0000 300 127 1 0x0000 0x0077 0x0000 B 0x00000000 Ox20FFFFFF 0x00000000 0x00000000 Ox20FFFFFF 0x00000000 E 0x00000000 0x20FFFFFF 0x00000000 m 0x00000000 0x20FFFFFF 0x00000000 baf Hour MO mem mm 65535 0 J Ez 2147483648 2147483047 me E 2147483648 21474836470 bag 2147483648 2147483647 0 bag 2147483648 2147483647 0 bag 2147483648 2147483647 0 32768 32767 0 baf 32768 32767 0 b 4 32768 32767 0 0 127 0 0 127 0 0 127 0 0 127 0 0 127 0 32768 32767 0 32768 32767 0 32768 32767 0 0x00000000 Firmware Version Drive Fault Code Drive Status Analog Monitor Output Reserved Reserved Reserved Reserved Servo Startup Time gigtus Monitor 1 Status Monit re gt Status Monitor 3 Status Monitor 4 Status Monitor 5 Reserved Reserved Reserved Display Status Monitor 1 Display Status Monitor 2 Display Status Monitor 3 Display Status Monitor 4 Display Status Monitor 5 Reserved Reserved Reserved Paramenter Mapping 1 ajajaj an T a D i oo in a D i co aU Ti D o i als a a i co La T a apap a Se a a a a co i 4a FPO 11 a o i Hi miy a o i H h pr o i JHE Jagg 4 co i a p E i JE S c The 2 to the 6 row of the main screen represents the parameter status of the servo drive Each row represents different definition which is 3 7
53. A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Output DO Setup P2 18 P2 22 0x0 1 Servo ready 0x03 At Zero speed 0x09 Homing completed 0x05 At Positioning completed 0x07 Servo alarm Servo fault activated There are 35 command selections of digital output Users could directly set it up via the drop down menu Servo ready 0x02 Servo On Ox03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Blectromagnetic brake control 0x09 Homing completed 0x10 Output overload warning 0x11 Servo warning activated 0x12 Position command overflow m Users can set the digital output DO status as a contact frequently open or b contact frequently close Speed Mode Setup Internal Speed Torque 3 112 July 2014 Chapter 3 Advanced Operation The screen on the right will be switched to the one as below Ope Ss A l Parameter Initial Wizard 5 ee ee Ta Asadi o 0x00 PT Mode 0x01 PR Mode 0x02 S Mode 0x03 T Mode p 205l Node A006 PT S Mode _10607 PT T Mode POCETI aT OXDE FT PR S Mode 0x0F PT PR T Mode 0x04 Sz Zero speed internal speed command trol Mode PERRY Ee CORE Must Reboot Drive to Enable Setting Pulse Output Polar
54. ASDA A2 servo drive Users could circumscribe and select the area that desire to magnify And double left click it to minimize the image Channel with individual coordinate shows the actual monitor variables Users can directly setup monitor command IDX Normal enter the specific position format ADR Address monitor variable code VAR Variables parameter code PAR Parameters and CANopen Index code CAN CANopen as the command source Engineers can have more precise analysis Aiming to waveform analysis of resonance suppression the software provides Fast Fourier Transform FFT Users could self select the area that desire to analyze and suppress the resonance point The event trigger function enables users to setup the condition to stop capture of each channel It is convenient for conditional analysis Users can manually adjust the setting of scale factor of scope screen and moving range which enhance the applicability It is the same as the rotary switch of scope Three kinds of waveform storage forms are provided SCP TXT and BMP SCP is special for ASDA Soft which can storage all kinds of data July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Followings are the main screen of scope s e cM 29 HHOOO 69 Oa he rr el sreng Fie Turina Properties PP Erabi Stop Comite I f Operation tres reach wevlud load o o i a E M FFT Display TE Il Faa na eae ari e a R ab
55. Cam n Slaver i amp E Cam Curve i J l E Cam Master Scaling Master In E Cam area users can setup the start address after E Cam is engaged P5 85 Data Array P5 81 The starting P5 82 1 point ASDA A2 will add one P5 85 more point to its end gt The first point after engaging 5 Gear box 2 Slave axis Followings are the brief introduction of gear box 2 Please note that in parameter setup window no E Cam related parameter is showed E gear ratio of E Cam axis is the same as the one which defined by P1 44 P1 45 The change of it will change E gear ratio of the system and the change of the system s E gear ratio will not recover even when E Cam is disengaged Since the influence covers the whole system s E gear ratio it is not suggested to change E Cam curve scaling by P1 44 P1 45 When E Cam is disabled the PR command will also refer to E gear ratio Slave E Gear The scaling of E Cam curve to output Position PUU P1 44 A P1 45 B Slaver Position PUU Slaver E Cam Adi A Master VV CT I E Cam I Master L L L L L Position PUU Position PUU Slaver Slaver P1 44 A P1 45 0 5B l E Cam SILLS I Master ry aj l E Cam In this example if E gear ratio is minifiedy 7 Master the position of slave axis will change The system s E gear ratio and the moving distance will be changed July 2014 4 17 ASDA Soft User Guid
56. Chapter 3 Advanced Operation ASDA Soft User Guide Step 4 Setup External Digital Input EDI command v External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Y0 Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu Ox01 Servo ready 0x08 Electromagnetic brake control 0x09 Homing completed 0x 10 GQutput overload warning xii Servo warning activated 0x 12 Position command overflow Users can set the digital output DO status as a contact frequently open or b contact frequently close July 2014 3 159 ASDA Soft User Guide Step 6 Common Setup Chapter 3 Advanced Operation Internal Speed Torque The screen on the right will be switched to the one as below Ei Parameter Initial Wizard EBeadd oOo amp Control Mode Selection P 1 0 0x0F PT PR T pe Geane erie iir hanae E RELAEC ve ts rele SEAN 9x06 PT S Mode 0x07 PT T Mode y Common Setup Rotaion Direction Selection P 1 01 Forward CCW Reverse CW C Forwrd CW Reverse CCW Forward Output Revers
57. Chapter 4 Description of Motion Control Compare CMP Parameters P5 56 Start address of CMP data array 0 O 799 P5 57 Compare axle position 2 P5 58 Compare Amount 10 10 create data array P5 59 Compare Enable Control P5 59 Compare Options C t after comparing the last point restart from the 1st point 2 after comparing the last point enable CAP function P5 59 CBA Output pulse 3 after comparing the last point set P5 57 0 100 1 4095 P5 59 Y axis source C O Capture axis 2 Pulse Command 1 Auniliary encoder 3 Main encoder P5 59 7 Trigger logic 0O NO 9 1 NC P5 59 U Trigger PR command 12 it will trigger PR command 45 after after the last position is compared Enable ON LINE Operation qi Read CMP Parameters Si Write CMP Parameters R CMP Disabled 4 122 Users can quickly setup the start position of CAP data array here which is the same as the setting method of Parameter setting and operation procedure gt Start address of Compare data array Set up the start address of Compare data array P5 56 Start address of CMP data array 0 0 799 Please note that if the start position of E Cam data is also 100 and the area number of E Cam is 4 if the setting value of P5 56 Start address of CMP data array and P5 58 CMP amount is the same as E Cam an error data in data array is overlapped will occur lf the start addre
58. Command Filter P 1 07 0x07 PT T Mode i 100 10v 10x08 PR S Mode pane y fx09 PA T Mode w _10x0A S F Mode 0x0B CANopen EEEE EEEEEEEEEEHEEHEEHEHEEHEN a 0x0C Reserved _ 0x0D PT PR Mode _ 0x0E PT PR S Mode _ a f0x0F PT PR T Mode ar L NUAN Asear 0x07 PT T Mode 410 amp Y Torque Mode Parameter Setup YES fo ms f NO Max Analog Torque Commmand P 1 41 Control Mode ion P 1 0 oe 0x07 PT T Position control mode Torque control mode fE Eare teare caches stabs anise 3 128 ParaThd Msg 201 Cmd 0 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 9 If users desire to setup speed or torque limit click the fifth block Internal Speed Torque The screen on the right will be switched to the one as below E Parameter Initial Wizard Agadi o 0x00 PT 0x02 S Mode 0x04 Sz Mode ll 0x07 PT T M DI O Setup Common Setup Position Mode Setup Torque Mode Setup S Mode S T Mode PT PR Mode e Ul En Control Mode Selection P 1 01 0x07 PT T Position control mode Torque control mode If Control Mode is changed Must Reboot Drive to Enable Setting TUCO PORORUREUORO ORO ROR ORO OE Oe ee Speed Torque Limit Setup P 1 02 X speed limit 0 Disable speed limit function _ 1 Enable speed limit function only for T mod
59. Curve Time of Speed Filter P 1 34 P 1 35 P 1 36 e SE TAacc 200 ms 1 65500 l 0x05 Tz Mode J Tec 200 ms 1 65500 0x06 PT S Mode 0x07 PT T Mode ind nahin ni to nein 0x08 PR S Mode Target Speed Over 3000 Rem _ 0 5000 0x09 PR T Mode 0x04 S T Mode I 0x05 CANopen l 10x0C Reserved 0x0D PT PR Mode L0x0E PT PR S Made 0x0F PT PR T Mode Overspeed Warning P2 34 Speed Threshold Over s000 RPM 1 5000 ParaThd Msg 201 Cmd 0 step 8 If users desire to setup speed or torque limit click the fourth block Internal Speed Torque 0x02 5 Mode The screen on the right will be switched to the one as below Esad amp __ 0x00 PT Mode Pos siete 1 0 f Control Mode i Must Reboot Drive to Enable Se ing T a 007 S Speed control mode amis is 0x02 S Mode Y Speed Torque Limit Setup comense 1 02 X speed Speed Mode Setup 1 9 Disable speed imit function Internal Speed Torque 1 Enable speed limit function only for T mode Command Limit Source P1 09P1 11 Din must Select SPDO or SPD1 _ 0x06 PT S Mode _ 0x07 PT T Mode __ 0x08 PR S Mode 0x09 PR T Mode __ 0x0A S T Mode __ 0x0B CANopen __ 0x0C Reserved ane 0x00 PT PR Mode ps BEFA SEA ea i fy for PS mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 Torque ternal Register 1 I
60. DI STOP in auto protection according to the definition of P5 03 users can setup PL CCWL Positive Limit NL CWL Negative Limit SPL SCCWL Software Positive Limit SNL SCWL Software Negative Limit OVF Position Command Overflows CTO Communication timeout ALO20 and STP Stop Command To use the setting of P5 03 users have to know the meaning of each byte stands for Then users can use the drop down list to complete the setting from via software AT P 5 Coo 200 P5 20 ACOS 1000 P5 26 ACO 1200 P5 27 ACOS 1500 P5 28 ACOS 2000 P5 29 ACi0 2500 P5 30 AC11 3000 P5 31 AC12 5000 P5 32 AC13 8000 P5 33 AC14 50 P5 34 AC15 30 P5 35 Users can select the acceleration deceleration time from the drop down list and can setup the deceleration time from Speed Time Seiting that mentioned above Event ON OFF Setting For setting the function of event trigger a drop down list is provided for users to setup rising or falling edge For example definitions of P5 98 and P5 99 are must know when using parameters to set it up Assume that we use parameter to setup event trigger see as below when the rising edge signal of EV1 is triggered PR 52 will be triggered as well since the first digit of P5 98 is set to 2 If the falling edge signal of EV1 is triggered PR 53 will be triggered because the first digit of P5 99 Is set to 3 July 2014 Chapter 4 Description of Motion Co
61. Electromagnetic brake control 0x09 Homing completed 0x 10 Qutput overload warning 0x11 Servo warning activated 0x12 Position command overflow Users can set the digital output DO status as a contact frequently open or b contact frequently close 3 148 July 2014 Chapter 3 Advanced Operation Step 6 Common Setup The screen on the right will be switched to the one as below sarare Ae N A e 1 f eadao Control jon P 1 0 i 0x0D PT PR Position control mode JF Coalo odak changal Metehan to Enable Setting ASDA Soft User Guide Encoder Output Pulse Number P 1 46 C Forwrd CW Reverse CCW 2500 Pulse rev 20 320000 Pulse Output Polarity Setting P 1 03 TA Y Output Polarity i Forward Output C Reverse Output ee ee E Regenerative Resistor Setting P 1 52 P 1 53 751 a 5 751 3001 W 0 3001 0 MON1 MON2 4 MON1 MON2 2 MON1 MON2 X Monitor analog output polarity C 3 MONIC MON2 Delay of Brake Selection P 1 42 P 1 43 Max Motor Speed P 1 55 MBT1 0 mBT2 fo 1000 1000 ms Analog Torque Command Filter P1 07 MBTI P 1 42 100 10V LN Z 0 1000 X 0 1000 ms 6001 RPM 10 6001 C YES f ms 0 1000 NO Max Analog Torque Commmand P 1 41 MBI2 PI 43 o oo 6 eee eee ee 2 NSn
62. Failed Aiea ak The firmware version of the connected servo drive is showed in the most right of the toolbar 4504 42 Series Type Servo Yeri 1939 b Mode Setting Electronic Gear Ratio PR 04 T 0 Software Limit PR 05 T 0 Decel time of protection FR 06 T 0 Four modes setting are showed in the left side of the main screen Followings are the descriptions E Speed Time Setting 16 sets of acceleration and deceleration can be defined in parameter P5 20 P5 35 16 sets of delay time can be defined in parameter P5 40 P5 55 16 sets of target speed can be defined in parameter P5 60 P5 75 The above mentioned data are shared by all PR Delay Time Internal Target Speed July 2014 4 67 ASDA Soft User Guide Chapter 4 Description of Motion Control m General Parameters Setting Some basic parameters which are commonly used in PR mode can be setup here such as electronic gear ratio software limit forward reverse deceleration time of protection and event on off setting Electronic Gear Ratio Software Limit Decel time of protection Event ON OFF Setting mE Homing Setting Users can setup homing function in this mode Next section will have detailed description m PR Mode Setting Users can use different specifiable ways to setup PR path in this function such as PR jump and PR overlap Total 63 PR are provided from PR 1 to PR 63 PR 06 T 0 PR 07 T 0 PR 08 T 0 PR 09 T 0
63. In addition users can modify the compared value in data array through manual setting Left click the mouse on any field of the table and select the data that you are going to modify oso o00 054 001 fo52 002 Use left mouse button to select position O01 the field will show the bracket with dotted line i Write CMP Data to Servo 4 120 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 Left click the mouse to edit 050 000 josajlooa T _ Left click the mouse to wee edit 053 003 Tosa oos oss 005 056 006 o57 007 oss 008 059 009 di Write CMP Data to Servo Users can enter the compared value at the moment When finish left click on the other fields to complete editing _ When finish left click on the other fields to complete editing When all manual setting is complete use to download the modified data array into the servo drive Please note that here can only download the value in data array into the servo drive If desire to burn data array into EEPROM please switch to Data Array Editor Then click Burn to EEPROM In addition and the related parameters of Compare Sai Write CMP Parameters are not relevant Please use to modify parameters Window in the right displays the related parameters of Compare 4 121 ASDA Soft User Guide
64. MONi MON2 4 Regenerative Resistor Setting P 1 52 P1 53 751 Q 5751 3001 W 0 3001 C 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 meT1 o 0 1000 ms MBT2 1000 1000 ms Max Motor Speed P 1 55 RPM 10 6001 MBTI 1 42 MBI2 PI 43 espp P1 38 FEE BR BBB RBBB RRP RRR RRP eee eee eee IParaThd Msg 201 Cmd 0 3 137 ASDA Soft User Guide 3 138 PR mode and torque mode Setup Position PR Mode first M Control Mode 1 01 0x09 PR T Position control mode Torque control mode F Contrai ode change Matha Die Ene Saal Chapter 3 Advanced Operation Step 7 Since it is in dual mode the system provides setting blocks of position PR mode Input pulse filter P 1 00 Y Stance of piles ewan Pulse Command Filter P 1 08 Position Mode Parameter Setup Type of Pulse Command Input P 1 00 X Z Logic Type P 1 00 Z Positive Logic Pulse Type P 1 00 X Pulse Direction 0 1 66Mpps Low Speed 6 66Mpps High Speed C 1 416Kpps Low Speed 416Kpps High Speed 2 208Kpps Low Speed 208Kpps High Speed IC 3 104Kpps Low Speed 104Kpps High Speed Q Open collector for low speed pulse is 1 Line driver for high speed pulse C Yes 0 Unit 10ms 0 1000 NO Target Position Error Range P 1 54
65. Mode is changed Must Reboot Drive to Enable Setting __ 0x01 PR Mode ee g n 0x02 S Mode FUCTCOREOOEROOROOROOROOROOR OORT Oe h Oe ee Scorn Sv Speed Torque Limit Setup 0x05 Tz Mode Rees ee 0x06 PT S Mode 0x07 PT T Mode 0 Disable speed limit function 1 Enable speed limit function only for T mode pj Speed Command Limit Source P 1 09 P 1 11 DIn must Select SPDO or SPD1 _ 0x09 PR T Mode 0x0A S T Mode 0x0B CANopen p5 0x0C Reserved J Sel ternal Register 1 Internal Register2 Internal Register3 0x00 PT PR Mode It Commandiso i000 Rem 2000 Rem 5000 Rem 0x0E PT PR S Mode 60000 60000 60000 60000 60000 60000 DI O Setup pa Common Setup M P1 02 Y torque limit Position Mode Setup iL O Disable torque limit function PR Mode Setup k 1 Enable torque limit function only for P S mode Speed Mode Setup M Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 rae ternal Register 1 Internal Register2 Internal Register3 Command is 0 100 jo jo 300 300 300 300 300 300 0x0F PT PR T Mode ParaThd Msg 201 Cmd 0 A OxOF PT PR T Multi Control Mode Position and Torque Mode Users can switch two Di signal to setup PT PR and T mode via this function With Parameter Initial Wizard users can quickly setup DI and these 3 modes Step 1 Select the co
66. Motion Control ASDA Soft User Guide July 2014 P5 82 E CAM Areas N S 720 72 hi Speed Section A Image Table P5 81 Data Array start position 100 IDL1 Waiting Area 5 gt 4 PR E ET T ee Position ACC Acceleration Area 10 gt P5 84 E CAM Pulse Number of Master a__ 8 a ood urve CONST Constant Area 65 gt 47 p h kle C en ee DEC Deceleration Area 10 gt pap 5 10 2s eee Se eB Pe Se BS Se Ue IDLE2 Stop 4rea jo gt 7 _ j eH Acceleration Coestnatin Moo e e 9 Zurve D efi eT LS ee ee Create Table iau Si _ amp Draw he E 4 2 4 How smooth the y far eo Pr 6 6 0 66 curve of its speed Acceleration Constant speed Deceleratiqn change area area area Waiting Stop area area Example Filling Machine Design of E Cam curve E Cam disengaged and call PR Horizontal SPEED Curve The bottle set arrival signal Vertical POSITION Curve Signal of constant l speed area This system has two E Cam curves One is for controlling the platform in horizontal direction and another one is for controlling the filling axis in vertical direction A complete cycle starts when the boitle is in accurate position and activate the signal then ends when the platform returning to the start position controlled by PR command The master axis o
67. P5 07 to trigger position register Followings are the descriptions of position interrupt function and its using method Interrupt command is the setting of later commands The internal interrupt is executed when the previous command is complete and the next command which is set with interrupt command INS is called automatically No trigger in between In addition the delay time is effective to internal interrupt For internal interrupt regardless the later command absolute or relative command the command result is the same Take two diagrams below as the example When position command 2 is set with interrupt command the delay time of position command 1 starts from the beginning of command 1 If the delay time is 0 and position command 2 is set with interrupt command then position command 1 will be ignored and position command 2 will be executed directly Final destination Absolute commend Cmd_E P_Command 1 command Relative Incremental command Cmd_E previous Cmd_E lt DLY1 gt P Command 2 If 0 this command command will be omitted In this diagram the previous PR is speed control If the soeed command 1 is set with delay time and will auto move to the next PR speed control is set to AUTO the position command will be executed when the delay time is reached Soeed command 1 and position command 2 will be executed in sequence smoothly July 2014 Chapter 4 Description of Moti
68. P5 59 Z 0 True P5 58 Data P5 59 Z 1 Length All Compare items done 7 False P5 59 X 1 Capture axis gt P5 59 Y 0 Linear encoder P5 59 Y 1 Pulse command P5 59 Y 2 True P5 59 X 0 Main encoder P5 59 Y 3 4 P5 5 X 1 The source axis of If Bit 1 of P5 IfBit3of If Bit 2 of P5 59 X If Bit 1 of P5 59 X is set COMPARE 59 U is set P5 59 Xis is set the servo P5 58 is restored to its FUNCTION call PR 45 set P5 will initiate original setting and the when done 57 0 CAPTURE servo keeps repeating the FUNCTION Compare function 1 Source of CMP function is set by P5 59 Y E Same as CAP function When CMP and CAP function used together this setting can make sure the signal source is the same E Auxiliary encoder CN5 Its source can be linear scale E Pulse command CN1 Its source can be controller m Main encoder CN2 Its source can be motor encoder 2 Switch of CMP function It is set by P5 59 X bit 0 To enable the setting only when all necessary setting is complete 3 P5 57 It displays the position of CMP axis 4 P5 56 It specifies the address that stored the first compared data 5 P5 58 It sets the total compared amount When settings of P5 56 start address of data array P5 57 position of CMP axis and P5 58 compared amount are complete next step is the setting of compare actions 6 Compare actions When the position of source axis is cha
69. PUU LJ iv Speed v ie mas 546 370 PUU s 3 10000 000 PUU I C Acceleration ACY 461 569 PUU s 0 000 PUU o 30 60 90 120 150 180 210 240 270 300 330 360076757 PUU Confirm the diagram is correct Then users can download the table into the servo drive If desire to keep the curve inside the servo drive when power off click to burn the table data into ROM July 2014 4 51 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 52 When the setting of material feeding axis and filling axis is complete please proceed to Step 3 and 4 Please refer to the description of Manually create a table in previous section Followings introduce features of Rotary shear W T sealing zone and Rotary shear Adjustable sealing zone When applying Rotary shear W O sealing zone the curve it created is the one without synchronous area E When applying Rotary shear W T sealing zone it could create the curve which fixed at 51 E When applying Rotary shear Adjustable sealing zone it could setup the width of constant speed area via the software Create the curve by Rotary shear W T sealing zone Please select one way to create E CAM Table Rotary Shear W T Sealing Zone Encoder Rotary Shear W T Sealing Zone Pu i ra i lf the material is changed setup the cutting length again and check if speed compensation is needed will do The
70. Parameter Configuration Different firmware version might result from the updated function of the servo drive lf the firmware version in ASDA Soft cannot communicate with the one in servo drive the communication problem will occur Users can download different firmware version in servo drive to ASDA Soft by this function Click b the following screen will pop up ae kejk Load Configure Configuration Source C Specified Version C From Parameter File par C From Servo Three sources are provided a Specified Version Users can specify the type of servo drive and firmware version Then users can access and read parameters via the specified version b From Parameter File par When the parameter file is sent by the client or C From Parameter File par on site engineer click to select the firmware version Click the following window will pop up Parameter file to Load Config sn O An Race gt uD RADEN BAAN OARDER G a Lod Hizi RAE cx FE LAYS RE aN l X BoB 0 HSE PBAY TD Parameter File par v AYA Users can open the specified parameter file Then a reminder will pop up Delta ASDA S K I SRA S TAs July 2014 3 85 ASDA Soft User Guide Chapter 3 Advanced Operation c From Servo If the connected version is not stored in ASDA Soft this function can download the new version to the software Click Go s
71. Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A S T Speed control mode Torque control mode Step 2 Select Position control mode Speed control mode the setting block on the left will show as below July 2014 6 PT S Mode Commonsen Foston modes Speed Mode Setup Internal Speed Torque 3 119 ASDA Soft User Guide Chapter 3 Advanced Operation step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 There are 43 command selections of digital input Users could directly set it up via the drop down menu IC 0x0 1 Servo On Ox Servo o On 0x02 Alarm Reset 0x03 Gain switching 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled aie command selection 1 64 Bit Users can set the digital input DI status as a contact frequently open or b contact frequently close 3 120 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 4 Setup External Digital Input EDI command External Digital Input
72. Q 5 751 C Reverse Output C 2 MON1 MON2 3001 W 0 3001 C 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 MBT1 fo 0 1000 ms e001 RPM 106001 _ 0x09 PR L Mode oxo s is EM Analog Torque Command Filter P1 07 0x05 CANopen Cres f ms _ L0x0C Reserved O 1000 _ 0x0D PT PR Mode _ NO s a 0x0E PT PR S Made L0X0F PT PR T Mode Max Analog Torque Commmand P 1 41 MBTI P 1 42 MBT2 Pl 43 100 10V sf Nae j 0 1000 Step 7 Since it is in dual mode the system provides setting blocks of position PR mode PR mode and speed mode Setup Position PR Mode first 3 132 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below eo ei ce e A Asadi A Control Mode Selection P 1 0 0x08 PR S Position control mode Speed control mode v If Control Mode is changed Must Reboot Drive to Enable Setting Y Position Mode Parameter Setup Type of Pulse Command Input P 1 00 X Z m Target Position Error Range P 1 54 Logic Type P 1 00 Z Positive Logic 12800 Pulse 0 1280000 Pulse Type P 1 00 X Pulse Direction Over Position error Threshold P2 35 3840000 10Pulse 1128000000 Electric Gear Numerator Setting P 1 44 P1 45 Input pulse fi
73. Setting P1 03 i Taro Monitor analog output polarity _ Regenerative Resistor Setting P1 52 P1 53 Q MON1 MON2 Forward Output 4 MON1 4 MON2 751 Q 5 751 k pecs 2 MON1 MON2 3001 W 0 3001 Delay of Brake Selection P 1 42 P 1 43 j Max Motor Speed P 1 55 MBT1 o 0 1000 ms e001 RPM 10 6001 MBT2 0 1000 1000 ms Analog Torque Command Filter P 1 07 i tT YES fo ms NO Max Analog Torque Commmand P 1 41 0x00 PT PR Mode MBTI P 1 42 MBI2 PI 43 100 10V EP a A E on IA 6 EHEEREBEBEEEEEEEEEEEEEEEEEEEES amp i ParaThd Msg 201 Cmd 0 Z Step 7 Since it is in dual mode the system provides setting blocks of position PT and speed mode Setup Position PT Mode first DI O Setup Common Setup Speed Mode Setup Internal Speed Torque 3 122 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below Sco Asado amp trol Mode Selection P 1 0 0x00 PT Mode a a z 0x01 PR Mode z ses Pr Poston ensai node Speeds node X eee E ae _ 0x02 S Mode B 0x03 T Mode 0x04 Sz Mode 0x05 Tz Mode Target Position Error Range P 1 54 __ 0x06 PT SMode Logic Type P 1 00 Z Positive Logic i220 Pulse 0 1280000 Pulse Type P 1 00 X Pulse Direction Po
74. TI Position PUU Slaver l l Position PUU Slaver E Cam Mast aster ee Master Position PUU Position PUU Slaver l Slaver E Cam Master l l ie N E Cam Master l l l Effect brought by P5 19 is the same as E gear of slave axis but only influences E Cam system See as above If P5 19 is set to 0 5 E Cam axis will only output half of the PUU number which is the same when adjusting P1 44 and P1 45 but it will not affect the E gear ratio If P5 19 is set to the negative value the output result will be upside down E Cam Curve Scaling C P5 19 T 7 Position PUU Positive value Slaver Position PUU Slaver E Cam Master Bam Master Let 35 19 4 Negative value 1 i l Position PUU Position PUU D Slaver Ar Slaver AAAA AA E Cam Master E Cam Master 0 The value of P5 19 can be changed anytime However the change takes effect only when E Cam is re engaged leaves S1 status and back again The change takes effect immediately in firmware version V1 038 sub48 or later version aa 44 al Position PUU Position PUU 7 Slaver Slaver J E Cam N E Cam Master Master P5 19 1 P5 19 0 5 P5 19 0 5 _ Tetig E Cam command will be outputted after the setting of P5 19 P1 44 and P1 45 is complete 4 16 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Position PUU P5 19 Position PUU Slaver E
75. Torque control mode Ox0A S T Speed control mode Torque control mode Chapter 3 Advanced Operation Step 2 Select Zero speed control mode Sz the setting block on the left will show as below 0x04 5z Mode Common Setup Speed Mode Setup Internal Speed Torque July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 contactb DI Ox04 Pulse dear contacta contactb 0x23 Forward inhibit limit C contacta DIS 0x21 Emergency stop contacta contactb There are 43 command selections of digital input Users could directly set it up via the drop down menu Ox sera On 0x02 Alarm Reset 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0 10 Speed limit enabled tage gash command selection 1 64 Bit Users can set the digital input DI status as a contact frequently open or b contact frequently close DII 0x01 Servo On Step 4 Setup External Digital Input EDI command y External Digital Input EDI Setup P2 36 P2 41 July 2014 3 111 ASDA Soft User Guide Chapter 3 Advanced Operation EDI setting for ASDA
76. Tz Mode 0x06 PT S Mode 0x07 PT T Mode BeeG ao trol Mode oes PR S Position control mode Speed control mode oe jon P 1 0 Y pa Mode is changed Must Reboot Drive to Enable Setting y Speed Mode Parameter Setup Analog Speed Command Filter P 1 06 _ 0x0A1 S T Mode LOx0C Reserved 0x0D PT PR Made 0x0E PT PR S Mode s 0x0F PT PR T Mode 0x08 CAtiopen ay ine Target Speed Threshold P 1 39 0 1000 Target Speed Over 3000 RPM 0 5000 50001 RPM 10V lt a 0 50001 val Overspeed Warning P2 34 Speed Threshold Over 5000 RPM 1 5000 m5 Curve Time of Speed Filter P 1 34 P 1 35 P 1 36 TACC 200 ms 1 65500 TDEC 200 ms 1 65500 TSL jo ms 0 65500 ParaThd Msg 201 Cmd 0 Step 10 If users desire to setup speed or torque limit click the sixth block Internal Speed Torque _ 0x01 PR Mode 0x08 PR S Mode trol Mode Selection P 1 0 Toes PR S Position control mode Speed control mode f Control Mode is changed Must Reboot Drive to Enable Setting __ 0x02 S Mode __ 0x03 T Mode _ _ 0x04 Sz Mode _ 0x05 Tz Mode l 0x06 PT S Mode 0x07 PT T Mode 0x08 PR S Mode Speed Torque Limit Setup P1 02 X speed 0 Disable speed limit function 4 Enable speed limit function only for T mode Speed C
77. U Disengaged Ti V 0 Do not disengage as 1 DI CAM disabled _ U Master axis exceeds ECRD incremental symbol DIR then 0 2 Disengage and return to stop state Stop position is precise 4 Disengage and return to pre engace state Lead Pulse 0 Repeat Cyciically 6 Disengage and return to stop state and maintain the speed _ 8 Disable E Cam function after disengaging BA Disengaged Type While reaching disengaging size call PR O N A z Download k Enable E CAM 4 N After the E Cam curve is established and the related setting is complete users could setup engaged condition of E Cam and simulate its operation In this window the main adjusted function is divided into three parts E Command source The command source of master axis Command Source 0 CAP Axis 1 AUX ENC 2 Pulse Cmd 3 PRCmd 4 Time axis ims 5 Synchronous axis 0 CAP axis The command is defined by synchronous axis The setting is the same as P4 39 B 1 AUX ENC Use auxiliary encoder as the command of master axis 2 Pulse Cmd Use external pulse command as the command of master axis 3 PR command Command triggered by PR mode is regarded as the command of master axis 4 Time axis ims Use time pulse 1ms as the command of master axis When it is not connected to master axis users can select time axis 1ms as the master axis to drive E Cam so as to simulate E Cam operation 5 Sync
78. Used Parameter Group X Open the page of frequently used parameter Close Frequently Used Parameter Group Y Close the page of frequently used parameter Edit Frequently Used Parameter Group Z Edit the page of frequently used parameter Click this the following window will pop up ASDA Soft Sra Edit Frequently Used Parameter Group 3 74 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Its operation steps are as follows a b Select the parameter group Group 0 7 Select the parameter Click the parameter and the below section will display the parameter name See as below If the user selects P1 01 from Group 1 the below section will display its name Input Setting of Control Mode and Control Command Control Mode and Output Direction c Then click _ to download it to the frequently used parameter E ASDA Soft ao Edit Frequently Used Parameter Group P1 O1 Group 4 Group 5 Control Mode and Output Direction d If desire to remove the parameter click lt lt lt will do For example if users desire to remove P1 57 Motor Crash Protection select P1 57 on the right and then click Edit Frequently Used Parameter Group July 2014 3 75 ASDA Soft User Guide Chapter 3 Advanced Operation P1 57 will be removed Down e The UP and Down Key can be used to change the order f Select all desir
79. Windows XP 2 SP3 32bit gt Delta Electronics Foundation Version Delta Electronics Thailand Configuration Windows Vista for ASDA Public Co Ltd ASDA Soft V4 08 09 anne for ASDA Sp1 32bit 2013 10 09 35 1MB AJA AB BIA2 B2 Delta Energy Systems Version series gt Delta Products Americas Windows 7 32bit Version gt Delta Electronics Europe 64bit Version ita Ele i s a a Electronics Japan Configuration Windows XP for ASDA 5 ASDA Soft V3 02 software for ASDA SP3 32bit 2010 01 14 17 1MB aine tas a 2 When the following message pops up click and save it to the designated position ce i ee Sk GT is BS 8 Delta ASDA Soft 4 08 04 zip AAU REA eipped HA 34 OMB fe www _delta_com tv MEEBO BFO_ FESS Siig se al ME CeO MER laterite A aie Bere AHAJ eo teta eH O ee eae ele ARHAR sab eB eh fea SCR ere alee 1 4 July 2014 Chapter 1 Environment and Software Installation ASDA Soft User Guide 3 When designate the saving file from the following window click ee feo Am EEA C3 GRAEN PRIR SHAR LAS aM AF te pea Th ne LASSE 4 After downloading the file please unzip it Contents are shown below ASDA Soft v 405 U4 Install EGTE aem pdemerge A Windows Installer p14 l ARNET EIA 252 KE te Data 30 651 EB Tistaller forthe Windows Installey Microsoft Corporation mj vi I
80. all data of whole frequency domain ibid i 1000 2000 d __ Run Execution It is used to execute the function of system analysis Users have to Servo ON the drive first so as to do system analysis When clicking this button in Servo Off status the following reminder will pop up July 2014 3 51 ASDA Soft User Guide Chapter 3 Advanced Operation F System Analysis Wizerd olala Servo is Of Please Set Servo ON to go on the next step Press Yes the servo will be set to Servo ON If you don t want press Cancel to return Press ee a to azpien If you don t want press Ye ij Click the system will Cne Yes set to Servo On status automatically Servo is Off Please Set Servo ON to go on the next step When it is set to Servo ON click RUN the following reminder will pop Up system Analysis Wizard oee E When you are finished using this function do the homing otherwise it will create the risk of unexpected a Warning Operate the function will cause the motor rotate slightly please confirm whether cause serious personal injury and machine damage hen you are finished using this function do the homing otherwise it will create the risk of unexpected hen you are finished using this function do the homing otherwise it will create the risk of unexpected Press Yes the function will be activated immediately If you don t want press Cancel to return cant ves Pl
81. analog register or position loop 051 Speed feedback 33h nm Current actual speed of the motor The unit is 0 1 r min D1 052 Speed Pn filter 34h Current actual speed of the motor The unit is 0 1 r min 053 Torque command The processed torque command The unit is 0 1 35h percent The source might be analog register or speed loop 054 a Current actual torque of the motor The unit is 0 1 36h D Bite percent 055 Current feedback Current actual electric current of the motor The unit is 37h D DE 0 01 ampere Amp 056 DC Bus voltage ote me 38h Capacitor voltage after rectification The unit is 0 1 volt voltage Capacitor voltage after rectification The unit is 0 1 volt rectification The unit is 0 1 volt os 059 Pulse from E Cam The accumulative pulse number of E Cam master axis 3Bh master axis lt is the same as P5 86 accumulation A2L does not support E Cam function 060 Pulse from E Cam The incremental pulse number from master axis The 3Ch master axis unit is pulse number per msec increment A2L does not support E Cam function The lead pulse of E Cam master axis which is used to judge the engaging condition Pulse from E Cam When it is disengaged lead pulse P5 87 or P5 92 mast axis lead pulse When it is engaged lead pulse P5 89 When the value is 0 it will be disengaged A2L does not support E Cam function The position of E Cam axis Unit The pulse is from the maste
82. and reverse curve can be regarded as the one for previous curve or the Waiting area for the next one See the example in this page The Stop area is programmed as the one for previous curve If the whole curve is divided into 400 parts forward curve pulse Stop area takes 200 parts Another 200 is for reverse curve Stop Acceleration Position Curve Constant Sp ed Deceleration 400 Givisions 200 divisions 41 200 divisions gt 45 55 4 28 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Another segment method is to program the curve in Stop area and Waiting area as any running direction since motor stops in both areas To compare it with the above figure curve in Stop area is programmed as the one for forward curve and the rest is for the reverse one in this example Thus 400 parts are in one curve while the forward one takes 150 the reverse one takes 250 Stop Waiting Acceleration Constant Speed Position Curve 3 Deceleration division 400 divisions 3 lt 250divisions 65 35 19 81 The following describes forward and reverse commands issued by the software First section Before creating the curve please setup e gear ratio P1 44 P1 45 in advance The Stop area is programmed as the one for previous curve in this example Thus the first section of curve takes 200 parts Set P5 82 to 200 firs
83. angle of synchronous zone Setup the cutting length and make sure if soeed compensation is necessary when the material is changed The setting method is the same as Rotary shear W O sealing zone to complete the mechanical value When applying Rotary shear Adjustable sealing zone to create the curve please pay special attention that the first step is to setup related parameters for storing E Cam curve in data array including P5 81 E Cam Start address of data array and P5 85 Engaged time When using macro 7 P5 82 is the only parameter that can be adjusted whose range is between 30 and 72 It means users can divide the E Cam curve into 30 72 parts 72 can bring the best curve resolution The second step is for setting up the scaling of E Cam curve including E gear ratio P1 44 P1 45 E Cam is a part of the system and would be influenced by E gear ratio and P5 19 E Cam curve scaling Data Array Position PUU Slaver EEE Slave E Gear P5 81 The P5 82 30 72 30 1 72 1 items The scaling of E Cam startin Highly recommend to set the P5 82 to 72 curve to output nia S m SX P1 44 P1 45 P5 19 point E Cam Master P5 85 0 July 2014 4 53 ASDA Soft User Guide Chapter 4 Description of Motion Control Please proceed the setting of the first and second step ARER E Oo i ee ee Rota Shear le Sketch Sections Table a l Adjustable Seal
84. as the reference position The following 4 graphs show the operating status when PR position command is triggered Current position Absolute xX of motor command FB_PUU 60000 Absolute command 60000 O 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Current a Relative position d of motor 60000 geste FB PUU Relative command 60000 a i ee eee eee ee ee ee ee ee eee 0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Current ae target postion position of Incremental motor current f 60000 command FB PUU command 60000 Cmd_E Incremental command 60000 0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 The position Current latched by position Capture capture f 60000 motor command 60000 function FB PUU Cap command in high speed 60000 po a D R N S A o i0000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Setup motion control first and then determine the PR command It means to define the acceleration deceleration and target speed of the motor Without the setting of interrupt INS and overlap command OVLP the delay time starts when target position is reached Speed Time Setting In position control motor s acceleration deceleration time target speed and delay can be set here ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 X Time 1 333 ms DEC Time Index of decelerating from rated speed 3000rpm ACOO
85. command Digital Output DO Setup P2 18 P2 27 There are 35 command selections of digital output Users could directly set it up via the drop down menu 0x02 Servo On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit O0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x10 Output overload warning ao warning activated e ab Users can set the digital output DO status as a contact frequently open or b contact frequently close 3 142 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 6 Common Setup Torque Mode Setup Internal Speed Torque The screen on the right will be switched to the one as below i eer oe Tnit Joad Control Mode jon P 1 01 0x0A S T Speed control mode Torque control mode X pesana Mode is changed Must Reboot Drive to Enable Setting _ Rotaion Direction Selection P 1 01 Erender Output Pulse Number P 1 46 _ 40x061 PT S Mode Forward CCW Reverse CW 7 IM ja C Forwrd CW Reverse CCW Me 2500 Pulse ev 20 320000 A0 c A t as Se 1 0 ba ROCCE a San ren rey Setinot a N itor analog output parity Too fs Y Output Polar I GE MtO MAO Regenerative Resistor Settina P 1 52 P 1 53 E id ia Sve Oia C 4 MON1 4 MON2 751 Q 5 751 C Reverse
86. command end It is calculated after the target speed is reached Since the settling time of feedback varies from system to system the delay time is not defined by feedback signal See the main setting page that shown below TYPE settings ig Constant speed control ka INS When this PR is executing it interrupts the previous one ono L YES AUTO Auto move to next PR when completed o NO VES UNIT Unit O irom 1 PPS PUU per sec Speed Time Setting ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 Time 0 000 ms DEC Time Index of decelerating from rated speed 3000rpm Acoo 200 P5 20 zs Time 0 000 ms DLY Delay time index LYa0 0 P5 40 Data Target Speed 60000 60000 OPT options In constant speed control 3 parameters can be used to interrupt PR INS When this PR is executing it interrupts the previous PR Use the internal or external interruption via DI POS to specify the path or P5 07 to trigger position register Please refer to Single Position Control Motor Stops when Positioning is Complete for further description July 2014 4 85 ASDA Soft User Guide Chapter 4 Description of Motion Control INS When this PR is executing it interrupts the previous one ono 1 YES AUTO Auto move to next PR when it reaches constant speed area AUTO Auto move to next PR when completed amp o NO 1 VES lf the function of auto call next PR is
87. control mode Torque control mode 0x04 S T Speed control mode Torque control mode Use drop down list to setup 0x04 Sz Zero speed internal soeed command 2 Setup Digital Input DI DI3 and DI4 are used in this ee mit Ox0A Gantry control function sq Ox0C Latch function of analog position command 0x0D Clear function of analog position command gt 0x0E Clear the errors of linear scale and motor encoder for fulldosed 0x10 Speed limit enabled 0x11 FR command selection 1 64 Bit 0x17 FR command selection 1 64 Biti 0x13 JP R command Sadi a Bit2 Ox 15 internal speed a a 1 4 Bit 0x16 Internal torque command selection 1 4 BitQ Z EIE GER RaoE ibti PEPGESaS Use drop down list for setting 0x14 Speed command selection 1 4 Bit 0x15 Speed command selection i 4 Bit1 1 Parameter Initial Wizard ce A Hl il O A ASDA AZServo Ver 1744 Sub 923 Control Mode Selection P 1 01 n 0x04 Sz Zero speed internal speed command If control mode is changed please reboot the servo drive to take effect Y Digital Input DI Setup P2 10 P2 17 DIL ROSE Oris a T O w2 ter da 0x14Internal speed command selection 1v 0x 15 Internal speed command selection 1 v DI5 0x02 Alarm Reset DI6 0x22 Reverse inhibit limit DI7 0x23 Forward inhibit limit v O contacta DIS
88. een SEMA CM4A 0 0 ETS IA REE ES eee seme CMSA 0 0 A RRR ES eee ese TAS 0 0 ee 0 0 Re 0 0 kaci MAPI Eae KOO piee MAF2 On0000 OvO000 Bh Bt Br 2 ASDA A Servo si ait Biv RH SI Gl amp Open file Save file Print file im Pl Page i ag Select the page There are ten pages in total to show all parameter Use this function to select the page AA Zoom in Zoom out This can zoom in or zoom out the displayed content of parameters E Page width Align the width to display the content July 2014 PERE any lt lt kF o AA A amh N ASDA A2 Servo hy ip bead That i AW VER LHS LS TRARRE har ee TS oi i Ll ree MON QefO09 Orong RERE E Ty Orton E TWE RE mi Ce Lae Coe Me Ceol ji rie Cc LAK ERUKE TZON Har MEREEN Chil i fl SA eee 3 71 ASDA Soft User Guide Chapter 3 Advanced Operation Full page Click this to display in full page RHA a Hg mA b bl Page ii of 1d Aa e Foor 61 0 E 3 72 zoom 61 0 Adjust the screen size H Exit Click this to close print function amp Pint the parameter only for those are different from the default value Its operation is the same as Print Parameter amp amp Password for protection setting Setup the password for protecting data array This can ensure value in data array will not lose caused by wrong operation Note This function is available after f
89. entering all mechanical value users have to proceed the setting according to the related parameters of E Cam curve Sketch Tabe P5 81 Start position of Data Array 100 P5 82 E CAM Area Number 6 amp P5 83 E CAM Cyde Number M 1 P5 84 Pulse number of master axis P 63661 Pulse number of master axis P corresponds to E CAM table M cyde Users can setup the start address of data array However E Cam area number is unchangeable since it is set by the system P5 81 Start position of Data Array 100 iy iy a a ek ats lt P5 82 E CAM Area Number 6 lf P5 84 Manually Input is checked users can setup the pulse number of master axis P5 83 E CAM Cyde Number M 1 P5 84 Pulse number of master axis P 63661 Pulse number of master axis P corresponds to E CAM table M cycle 4 50 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide to complete the setting of E Cam curve Mise P5 81 Start position of Data Array 100 P5 82 E CAM Area Number 5 P5 83 E ACAM Cyde Number M 1 P5 84 Pulse number of master axis P 12732 Pulse number of master axis P corresponds to E CAM table M cycle 180 240 300 360 22377 39501 50000 60498 T622 100000 Step 4 Click Curve Information Simulation 100000 000 PUU 1224 782 PUU s Unit mm 90000 000 PUU 1139 981 PUU s Slave Pulse 53 052 PUU 80000 000 PUU 1055 179 PUU s 70
90. f Loc array address 200 2799 f 6 Lock array address 600 799 C S Lock array address 300 799 C Don tlock the array Password 1 16777215 Re type Password Lock Password exit Clear password s SUCCeESST Stop Operation amp When the communication is connected if users desire to stop accessing parameters click og a warning message will pop up and stop the operation Delta ASDA S Fead Faded E A EA Open frequently used parameters ls This could be used to setup the list of frequently used parameter group Its features are a Centralize the parameter from different group in one page which is easy to find and edit July 2014 3 73 ASDA Soft User Guide Chapter 3 Advanced Operation b Users can add or delete parameters Parameter Editor1 ASDA M Servo Open Failed fn fon qi 4am 88 A B O J Read Only A Set While Servo OFF Valid After Reboot Bl Volatile Parameter The parameter shared by Note Double click the Value can be call out the Parameter Setting Helper When Frequently Used Parameter Group is opened right click the mouse to setup the list Print Message View Open Frequently Used Parameter Group Close Frequently Used Parameter Group Edit Frequently Used Parameter Group Print V Message View W Click Message View to open the screen on the left It is easy for users to access the software status Open Frequently
91. f 0x05 Tz Mode 0x06 FT SMode OC _ 008 PR S Mode 009 PR T Mode _ 0x0815 T Mode LOx0C Reserved _ 00D PT PR Mode __ 0x0F PT PR S Mode 0x0F PT PR T Mode Speed Mode Parameter Setup Analog Speed Command Filter P1 06 Enabled fo ms 0 1000 Disabled Target Speed Threshold P 1 39 Target Speed Over 3000 RPM 0 5000 Max Analog Speed Commmand P 1 40 50001 RPM 10V mss 0 50001 a Overspeed Warning P2 34 Speed Threshold Over 5000 RPM 1 5000 Tacc 200 ms 1 65500 TEC 200 ms 1 65500 MS Curve Time of Speed Filter P1 34 P1 35 P1 36 ParaThd Msg 201 Cmd 0 Step 8 If users desire to setup speed or torque limit click the fourth block Internal Speed Torque 0x00 PT Mode _ 0x01 PR Mode _ 0x02 5 Mode __ 0x03 T Mode __ 0x04 sz Mode _ 0x05 Tz Mode _ 0x06 PT S Mode _ 0x0B CANopen __ 0x0C Reserved 0x0D PT PR Mode 0x0E PT PR S Mode __ 0x0F PT PR T Mode 0x04 Sz Mode F Y Si i To eLi it s 4 P 1 02 X speed 0 Disable speed limit function P1 02 Y torque 0 Disable torque limit function Torque Limit Setting P 1 12 P 1 14 1 Enable speed limit function only for T mode Speed Command Limit Source P 1 09 P 1 11 Din must Select SPDO or SPD1 1 Enable torque limit function only for P S mode DIn mus
92. form July 2014 3 155 ASDA Soft User Guide Chapter 3 Advanced Operation Step 9 Then setup speed mode Internal Speed Torque The screen on the right will be switched to the one as below Qo Q Control Mode Selection P 1 0 Toe PT PR S freawa Mode is changed Must Reboot Drive to Enable Setting TTRPEELEECELELELELEETLLTE LLL P Szi Y Speed Mode Parameter Setup SET D Analog Speed Command Filter P1 06 EIEN EE E A A TE mee e IES 10x08 PR S Mode e aes i Tacc 200 ms 1 65500 TDEC 200 ms 165500 _ loseciiesened a f RE e ES S 0x0D PT PR Mode Target Speed Over 3000 RPM 0 5000 0x0E PT PR S Mode jfa ROSES Max Analog Speed Commmand P 1 40 aaah 50001 RPM 10V kaas ORES Shas drins 0 50001 gt PR Mode Setup 4 Internal Speed Torque ACGA p speed Waminop239 Speed Threshold Over 5000 RPM 1 5000 L ParaThd Msg 201 Cmd 0 Step 10 If users desire to setup speed or torque limit click the sixth block Internal Speed Torque 3 156 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below ee T f Parameter Initial Wizard ca C fa PHa o amp M Control Mode Selection P 1 0 0x00 PT Mode le F z hd e PRIS If Control
93. function 1 Enable speed limit function only for T mode Speed Command Limit Source P 1 09 P 1 11 Din must Select SPDO or SPD1 0x05 Tz Mode 0x06 PT S Mode 0x07 PT T Mode 0x09 T Mode 0x0A S T Mode i DI O Se ed i Speed ternal Register 1 internal Register 2finternal Register3 Common Setup A E Command is 0 1000 RPM 2000 RPM 3000 RPM Speed Mode Setup 60000 60000 60000 60000 60000 60000 Torque Mode Setup L P 1 02 Y torque limit 0 Disable torque limit function 1 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 Din must Select TCMO or TCM1 0x0B Mode OxOE PT S Mode 0x0F PT T Mode 0x0E PT PR S Mode _ __ 0x0F PT PR T Mode _ ParaThd Msg 201 Cmd 0 0x0B CANopen CANopen Control Mode Motion control on CAN bus Users could activate CANopen mode via Parameter Initial Wizard If the user applies position PR control mode of ASDA A2 with CiA DS 301 b PR mode setup can help as well Step 1 Select the control mode from drop down menu Control Mode Selection P1 0 0x08 CANopen Mode 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque co
94. functions are introduced in later parts Right click the screen the window below will pop up serve Tuning Parameter Editor Save as a picture bmp Save Scope Data as a Text File tt Save Data of Current Display as a Text file tot Servo Tuning Click to enable the function of Auto Gain Tuning Parameter Editor Click to enable Parameter Editor Save as a picture bmp Click to save it as a BMP file Save Scope Data as Text File txt Save Data of Current Display as Text txt Click to save it as the TXT file lf the computer s performance runs slow High Baud Rate might slower the whole operation Uncheck High speed Monitor at the moment and change the channel width to 1ms 1kHz Then do the preliminary analysis with fewer Sampling point first Peer Tere er rrer i Prete rrr rererrririrrrrriri rrr tr trite Low speed monitoring time 1 ms If users desire to move zoom in or zoom out the specific channel enable Single Channel Fine which is under Fine Tuning will do Condition Fine Tuning Properties Moving Offset 200 Zoom Multiple 120 Di B gt CHI A nai Ame A heii CH2 J Zoom Value axis Foom Value axis ine alls ena toe at ee a ere ee ore oe CH4 Enable Single Channel Fine E Check It means the system only zooms and moves the selected channel m Uncheck The system zooms and moves all channel July 2014 3 2 ASDA Soft User Guide C
95. gain P2 02 Position Feedforward P2 04 Speed Loop P gain P2 06 Speed Loop gain P2 25 OSC Reject filter P2 26 External Noise Reject 256 E T 200 P2 49 Speed Detection Filter and Jitter Su 07 1400 v Bandwidth Hz max 1023 20 P2 47 0 Disable 4uto Resonance Suppression Mode v P2 23 Notch filter Freq 1 P2 24 Notch filter Gain 1 P2 43 Notch filter Freq 2 P2 44 Notch filter Gain 2 P2 45 Notch filter Freq 3 P2 46 Notch filter Gain 3 kakak k kU kU KKI lt l lt I lt I lt I lt I lt I lt I Read Parameter 1 5 314 50 1256 200 8 200 lt s 07 1400 200 ASDA Soft User Guide Enable Gain Control Panel Selecting Enable Gain Control Panel will temporarily change the operating mode to Pr Mode P1 01 001 and alter the following parameters P0 06 08 P1 15 18 P1 34 36 P2 10 17 P2 36 37 P3 06 P4 07 All parameter changes are temporary Closing the control panel and cycling power on the amplifier will restore the original parameter values Since we are going to use the third Notch filter plus the range of the first Notch filter is only 1000 Hz the following adjustments should be done a Set parameter P2 47 to 1 auto resonance suppression The value will set back to 0 when the system is stable Also it will store the resonance suppression point automatically If not please re power on or set the value to 1 and re estimate b Move t
96. item applying same coordinate might cause the incorrect proportion of the value For example when comparing the monitor item with PUU unit to the one with r min unit setting the same coordinate would result in incorrect proportion of the waveform The coordinate of each channel in this example also needs to be adjusted The waveform will be changed as below Data in channel 1 and 2 of Y axis on the left has been adjusted to the one for each coordinate The default setting of this function is channels use the same coordinate Please note that scope function will return to the default setting every time when the scope is re opened In addition set the function as channels use the individual coordinate please click E to adjust the screen to the proper size Please note that if not to do so after the setting of channels use the individual coordinate is complete the waveform is still incorrect July 2014 3 21 ASDA Soft User Guide Chapter 3 Advanced Operation 3 Function of Stop Condition In some specific condition if users desire to setup auto stop capturing waveform go to Stop Condition which shown as below Condition Fine Tuning Properties Stop Condition Enable Stop Condition Channel Operation CH1 a CH2 CH3 z CH4 lt Stop Value 0 Condition satisfied last 20000 ms This function can individually setup the stop condition of each channel See the following for the exam
97. method in section of E Cam Table Creation below E Cam Table Creation 4 4 When start to setup E Cam curve via E Cam function please select from the following methods Please select one way to create E CAM Table YW Lite We LoL anuz Manually create a table Manually create a table Speed fitting creation Rotary shear W O sealing zone Rotary shear W T sealing zone Rotary shear Adjustable sealing zone Cubic curve creation Rotary shear Printer Machine Before starting the setting of E Cam here are some reminders Functions mentioned below are merely for setting up and operating E Cam table A complete motion framework shall be programmed in accordance with PR mode Please refer to ASDA A2 User Manual for further information of E Cam It has detailed description of each application and setting method of E Cam with PR mode Manually create a table It could be applied to the application like machine cam that requires a complete cam contour Use the center of the circle of E Cam as the reference point and divide it into equal parts Measure the length from the center of the circle to the periphery Then input the data to the table And E Cam curve will be acquired July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Laod Data Point From Data 4rray P5 81 Data Array start position 100 a Y P f Load Data From CAP Array to Table P5 82 E CAM Points N S 720 16 z i C As
98. of constant speed area is determined by the proportion of required constant speed during material feeding not the constant speed area generated when cutter is operating Different material needs different constant speed area Thus to generate different E Cam curve is required That is to say the constant speed area is determined by the material July 2014 Constant speed area Sica sienna 360 One cycle of curve 4 43 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 44 ATIC wth Go MOY Constant speed area From the above figure constant speed area Is determined by material E Cam curve shall be set according to the material Here are the setting method and steps of creating rotary shear curves by ASDA Softt Please select one way to create E CAM Table Rotary Shear W O Sealing Zone Encoder Master a d j According to the above mentioned rotary shear curves it provides three options for users Rotary Shear W O Sealing Zone m Use Rotary shear W O sealing zone to create the curve m Use Rotary shear W T sealing zone to create the curve with fixed 51 in sealing zone m Use Rotary shear Adjustable sealing zone to create the curve Users can setup the width of constant speed area via the software July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Take an actual application as the example In packing machine cutter and
99. or communication will not be stored And this will help If it is failed to write in parameters AL 213 AL 219 will occur Please see Chapter 11 The next PR will not be executed automatically July 2014 4 95 ASDA Soft User Guide Chapter 4 Description of Motion Control E Index Position Control Two kinds of interface for setting index points are provided If the design of programming the index points is complete it is suggested to use the following interface to complete other settings Y TYPE setting 0xA Index Position control O INS When this PR is executing it interrupts the previous one 0 NO 1 YES OVLP Overlap the next PR When opverlaped disable DLY 0 NO 1 YES DIR DIR Moving Direction 0 Forward Always move forward D 1 Reverse Always move reverse 2 The shortest distance S_LOW speed unit 0 0 1r min 1 0 01 r min AUTO When this PR is complete it will execute the next PR automatically 0 NO 1 YES Speed Time Setting ACC Time Index of accelerating to rated speed 3000rpm ACO0 200 P5 20 v DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 v SPD Target speed index POVOO 20 0 P5 60 v DLY Delay time index DLYOO 0 P5 40 Data Data 0 0 P2 52 1 OPT options 3 parameters are provided here INS When this PR is executing it interrupts the previous PR Please refer to Constant Speed Contr
100. section whose range is between 200 and 400 Please note that the end position of the first section 200 should be overlapped with the start position of the second section 200 HE 200 Ea 400 PARA Select the file with reverse curve ETER E C Documents and Settings kevin kc tanisa eg ee tet Click OK to load in the second curve Then click draw The combined diagram is done 400002 344 PUL 2202 500 PUUS 360001 909 PUL 1884 385 PUU z20001 475 PULI 1566 270 PUU zg0001 041 PUL 1248 155 PUU z40000 606 PULI 330 040 PUU z00000 172 PUL 611 925 PUU 159999 738 PUL 293 810 PUUS 119999 303 PULI 24 305 PUUE 79998 8069 PUL 342 420 PULSE 3933938 434 PULI 660 535 PUL Mn 2000 POL o a0 60e 90 120 150 180 210 240 270 30 330 360e RY POUA After the setting of material feeding axis and filling axis is complete users now can setup Parameter setting and Engaged condition in Step 3 and 4 in section of Manually Crate a Table aiming at these two axes 4 36 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Cubic Curve Creation As long as users know the relation between E Cam position and degree this function is rather practical By simply filling in the position 0 360 of master axis and slave axis this function can create and smooth the curve In some applications users might need linear line or curve to complete
101. secuen l 5 S1 5tart carton of Vata Array PE R F CAM Area umer P583 E CAM Cyde Number M 1 Destnstion L 100009 PoU Anaea AAi l Slave Puke 100000 PUU Master Pube 7 52 pulse l Modine Suse a pejam ANS Save Information E oston r 23335 3060 PUY 0 155 mm Zispesd vty BOSE resis DSTI om E lAcceerstion AY P45 84 uls numhe cf master aas 2 4h Muls m mber cf master aas P corresponds ta H AM able cycle speed hitting Creation Step 2 Creation x iA GO Ot 210 Ner Fanel2 20 300 50 560 zam 4Jooeod 496 PUL 33 TA2 PUUS _ 75080 30 PIL 4533 301 VUUS __ anam en 16906 0092 PLLI s _ 25060 10 RUL LBY PIU S 6 000 PJU 4 333 PUNS F CAM Fditor Step 1 Setup E gear ratio P1 44 128 and P1 45 10 Step 2 Setup the required pulse number when master axis and slave axis operate one mm The unit of master axis is pulse PUU is for slave axis Unit mm Slave Pulse 100000 PUL Master Pulse W 52 pulse ASPA A2 Serna Step 3 Speed section Setup waiting area acceleration area deceleration area 4 26 constant speed area and stop area P5 31 Start position of Data Array 100 P5 82 E CAM Area Number 200 IDL1 Waiting Area aay tn tn Destination L 100000 PUU 5 Curve No 10 step 4 According to destination
102. set the motor keeps the current status It keeps constant speed if the command is issued and remains stop if zero soeed command is issued after the target speed is reached until servo off or interrupted by another PR If next PR is called automatically it will move to next PR after the delay time o NO 1 YES AUTO Auto move to next PR when completed It stops as soon as the current PR is complete Speed Keep Speed Delay lt running Command Command Target Speed Keep stop status Target Delaye Time Speed Time AUTO Auto move to next PR when completed ONO i YES i When current PR is complete the next PR is called after the delay time The next PR Speed is called Speed Command Target Speed The next PR is called Target ela Speed Time UNIT 0 unit is 0 1r min 1 unit is PPS Pulse Per Second UNIT Unit 0 1rpm 1 PPS PUU per sec In general constant speed control users can specify the speed via the setting of target speed The unit can be set as 0 unit is 0 1r min Its setting range is from 60 000 to 60 000 r min lf users desire to control the speed in specific time and distance select the unit as PPS 1 PUU Per Second Assume PUU is 10 000 per cycle and it has to reach the target speed within 3 minutes The cycle motor needs to operate should be target speed traveling distance time If the target speed is set to 200 PPS then 4 86 July 2014
103. the comparing value between the original data and current position data When clicking the cursor the relative value will be set to 0 Then when the cursor moves around the curve the system will automatically compare the value Please refer to the following figures for description colonel eoeedesesiba I ea nn BB E00 ore I anis PUL When cursor moves the relative will show the comparing value according to the cursor s Current position e Time It is the time when cursor stops Its operation method is similar to Data f Interval lt is the comparing value between the homing time and stop time Its operation method is similar to Relative July 2014 3 17 ASDA Soft User Guide Chapter 3 Advanced Operation Operation Description Setup software scope of ASDA A2 series software scope function is introduced here with the following oscillograph Its control mode is set to the internal soeed mode Sz mode The scope can be used to make sure the change of soeed command and motor speed Command Use DI to switch three sections of soeed command so as to control the motor speed Set channel 1 as Motor speed Real Time r min channel 2 to access parameter P1 09 1 Speed Setting channel 3 to access monitor variable 07h Speed feedback and channel 4 to access monitor variable 07h Speed feedback I 1 I T I 1 I I I 1 I I I 1 I 19660 p77 4 NEE ion eatin Teoma sarap rs a aia Lipa T T TO ATE AOTE
104. the motion of point to point when applying the method of Manually Create a Table Cubic curve creation can help to amend the curve on the diagram Step 1 Enable the function of Cubic Curve Creation Please select one way to create E CAM Table Cubic Curve Creation Cubic Curve Creation Step 2 Enter into the page of functional setting eM Odea Il Cubic Data 0 3 Cubic Cu 90 0 3 Cubic Cu 90 270 Create Cubic Curve 0 3 Cubic Cu 90 270 216 0 3 Cubic Cu 90 270 288 0 3 Cubic Cu 90 270 0 NA NA Its setting function is similar to Manually create a table Users can self enter the degree and position of each point 3 Cubic Cu 90 0 3 Cubic Cu 90 270 0 3 Cubic Cu 90 270 0 3 Cubic Cu 90 270 0 NA NA NA Adjusting the connecting line and degree can change the speed between two points Improper selection and connection will result in dramatically change of the speed Three types of curve between two points are provided for users July 2014 4 37 Chapter 4 Description of Motion Control ASDA Soft User Guide Straight Monotonically S Curve Line Increasing Decreasing Curve E Cam curve is quite smooth in general Users only need to setup E Cam whose speed changes dramatically in some specific applications Take the Bode plot as the example below To create E Cam curve by S curve two points inside the red f
105. to create E CAM Table m Previous Step 2 Users will see the window which shown as below IP E CAM Editor rc f fim ARSD a 1 Manually create a P5 81 Start position of Data Array 100 Laod From Data Array table Load Data From CAP Array to Table P5 82 E CAM Area Number 200 Specify Array Address Start Address 20 Area Size 20 Point Size 21 Step 2 Manually createa table ee E FoK Create Table 0 1 2 3 4 5 8 72 14 216 288 360 Postion Y 1 2 3 4 5 6 i A 4 Previous Draw B Download Table Burn Table Data Information simulation Unit mm Slave Pulse 100000 PUU Master Pulse V 100000 pie l iE HD I OC Ow ee le te Ot Weir PP oe Te OT Master Simulated Speed 100 pulse s 0 001 mm s Slave Information lt X E M Position Y PUU onl v Speed v y PUU s mmis E Acceleration ACY i Please note that any type of E Cam curve can be divided into 720 parts 721 points at most The minimum degree of each part in one cycle 360 is 0 5 To set it up by parameters P5 82 E Cam Area Number N which means the parts the cam can be divided into Its setting range is between 5 and 720 Thus users have to setup E Cam area number P5 82 first For instance when users desire to setup 16 points P5 81 Start position of Data Array ing P5 82 E CAM Area Numbe
106. 0 300 n ParaThd Msg 201 Cmd 0 Zi 0x07 PT T Position Control Mode Torque Control Mode Dual Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 01 0x07 PT T Position control mode Torque control mode 0x00 FT Position control mode 0x01 PR Position control mode 0x02 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command eae Tz Zero torque internal torque command 06 PT S Position control mode Speed control mode xt 7 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode 0x04 5 T Speed control mode Torque control mode 3 124 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 2 Select Position control mode Torque control mode the setting block on the left will show as below step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DI1 DIZ DI3 014 DIS There are 43 command selections of digital input Users could directly set it up via the drop down menu ha 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection
107. 0 Disabled DI2 0x00 Disabled DI3 0x00 Disabled DI4 0x00 Disabled DIS 0x00 Disabled DI6 0x00 Disabled DI7 0x00 Disabled DI8 0x00 Disabled DI9 0x00 Disabled DI10 0x00 Disabled DI11 0x00 Disabled DI12 0x00 Disabled DI13 0x00 Disabled DI14 0x00 Disabled BEeBBKRERHReEeReee AAA PEEEEEEEEEV EEE DO1 0x00 Disabled DO2 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DOS 0x00 Disabled DIU osing this form In some situations users would like to keep DI status after the window is closed Click this function to keep the current DI status AN WARNING E Enable DO Control F Do not click this if the controller has connected to the servo drive and used DI O control function If DI O control is not properly closed it might pose danger lf desire to use DO contact to conduct simulation control check this item will activate the communication control Users could force to frequently open or close the DO contact July 2014 3 47 ASDA Soft User Guide Digital Output DO DO 1 0x00 Disabled DO2 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DO5 0x00 Disabled Enable DO Controf Chapter 3 Advanced Operation Digital Output DO v Status Enable DO 1 0x00 Disabled DO2 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DOS 0x00 Disabled Do not click this if the controller has connected to the servo drive and used DI O control function If DI O c
108. 00 10000000000 0000000000 10000000000 0000000000 0000000000 0000000000 110000000000 ASDA Soft User Guide akeas ja Action Move Copy Swap Source Start 3 End 8 f 1 al Y Interface Introduction It describes the basic function of toolbar Functions Functions of Capture and Compare are described here Data Array It describes the operation method of data array editor Example Examples are provided for users to know how to operate the function via software Interface Introduction Before the introduction of Capture Compare and Data array lets talk about the basic operation of toolbar first Bade a Save as files It saves CAP and CMP parameter files as the special format CAC for users to confirm and modify Click the following window will pop up July 2014 4 109 ASDA Soft User Guide Chapter 4 Description of Motion Control BaD G An gt ORA GI RANER REIRU GAR LAE r G m Heb ent ye eH ES Ais ae Le CAPICMP Files cac lt 2 fate LAs Re TEEARU CAPCMP Files cac gt Ha B An o e E OI eRe AA OAE LES B i FRITH PL AE EREN Paea REUT CAPCMP Files cac AA l Load from Servo If the parameter file inside the servo drive already has the setting of CAP and CMP and users desire to modify or test via software or to make sure if the changed parameter is
109. 00 0x0077 ox0000 Analog Monitor Output a Sz ox00000000 Ox20FFFFFF ox00000000 Reserved E OxO0000000 Ox20FFFFFF Ox00000000 Reserved E e Ox00000000 Ox20FFFFFF 0x00000000 Reserved E i Ox00000000 Ox20FFFFFF Ox00000000 Reserved lPo o8 TSON Hour 0 65535 0 Servo Startup Time Po o9 E n 2147483648 2147483647 0 Status Monitor 1 E co E 2147483648 2147483647 0 Status Monitor 2 Po 11 E z C 2147483648 2147483647 0 Status Monitor 3 Po 12 t co E 2147483648 2147483647 0 Status Monitor 4 Po 13 E s l 2147483648 2147483647 0 Status Monitor 5 Po i4 e R 32768 32767 0 Reserved Po 15 e acd 32768 32767 0 Reserved Po 15 32768 32767 0 Reserved cia 0 127 0 Display Status Monitor 1 cmzai dLt O 0 127 0 Display Status Monitor 2 CM3A 0 127 0 Display Status Monitor 3 foe nn 0 127 0 Display Status Monitor 4 PO 21 CMSA l 0 127 0 Display Status Monitor 5 Po 22 bh Pans 32768 32767 0 Reserved po 23 bh ae 32768 32767 0 Reserved Po 24 W En RA 32768 32767 0 Reserved E mai ox00000000 Paramenter Mapping 1 a i te Read Only A Set While Servo OFF Walid after Reboot Volatile Parameter The parameter shared by Note Double click the Value can be call out the Parameter Setting Helper This section is divided into two parts July 2014 Interface Introduction Toolbar and screen of working area will be described here Parameter Configuration It describes the func
110. 000 Hz 50 1000 mentioned above 0 v dB 0 32 1000 M When P2 47 is set to 1 and 2 0 fw the 2 and 3 parameter of 1000 Iv resonance suppression will O lw be unable to setup These two parameters will be set as auto estimation Open the window of Enable Gain Control Panel M Enable Gain Control Panel n Control Panel will i sak ee pe Se 2 P2 10 17 P2 36 37 Check Enable Gain Control Panel the system will ee ee ee switch to the setting page of tuning Please pay attention that when enabling this function the operation mode is temporarily changed to PR mode Some parameters will be changed temporarily When complete tuning please uncheck l Enable Gain Control Panel 3 38 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Description of Tuning lt is recommended to use tuning to setup control loop parameters Through the actual operation users can directly estimate the change of inertia Iy NOTE In order to acquire the accurate result of estimation the servo motor must operate a distance at forward reverse direction Also the motor speed should be set up to 200rpm Following is the operation procedure Step 1 Check Enable Gain Control Panel screen on the right will switch to the one of tuning hI Servoon MEN orm Reset MEE Actual Acc time ms 34 e 40 Actual Dec time ms 34 lt 40 0 rpm acceleration to 3000 rpm ms 200 3000rpm decelera
111. 000 008 Jooooo00000 009 foooooooogo 010 joo00000001 011 fo000000002 7 012 jooooo00003 Copy to position 0ta o0oo000004 10 to 15 O14 fo000000005 Wa OOOOO00006 In data array the setting value of position 000 to 005 and position 010 to 015 are showed as below fooo _ fooog000001 001 OOOOOOU00e 002 OOOUOO0003 O03 OoOoooo0004 004 OOOOUOO0005 005 OOOOUO00006 006 OOooo0000 007 OOOOOOO000 008 OOOOUOO0000 009 jd0gag0d0d 010 OOOOOO0006 011 OOOOOO0005 Hiag d0gad 0 4 013 OOOOUOO000 oi4 OOOUOOU00e 015 OOOUOOO001 lf users desire to swap these two blocks of data array please select Swap first Acton Move eenememeeioee Set up the swap source position 0 000 5 005 Acton Move eenememeeiooe July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Then set up the target position of swap position 10 010 15 015 Destnaton Start 10 End 15 Click amp to complete the setting 000 00i j ooo0000005 foo2 y o000000004 foos o000000003 004 ooo0000002 foos y oo00000001 oooo000000 007 oo00000000 00s oo00000000 00s oooo000000 0i0 oo00000001 011 oo00000002 fiz o000000003 0ia o000000004 014 oo00000005 popoog000 Value in position 0 to 5 is swapped to position 10 and 15 Click Write into Servo to download the modified d
112. 000 000 PUU Master Pulse V 12 732 aa 970 378 Ary Master Simulated Speed 100 pulse s 7 854225 mm s oe ne 50000 000 PUU _ Slave Information 800 775 PUU s X 344 63 40000 000 PUU 715 973 PUU s E 7 Position Y 5333921896 Puu D71710 mm W speeda vv D Puu 252 mms E F Acceleration ACY 30000 0000 PUU 631 172 PUU s 20000 000 PUU 546 370 PUU s 10000 u 461 569 PUU s 0 000 PUU oe 30 60 90 120 150 180 210 240 270 300 330 36025767 PUUIE The system will automatically calculate the pulse number of master and slave axis Unit mm Slave Pulse 53 052 PUL Master Pulse 12 732 pulse Master Simulated Speed 100 oulse s 7 854225 mm js In addition function of table creation in Rotary shear provides the function of Curve Adjust Factor m a A eE enen eet is g 2 Information x tion ee ee ee eee ker p PUU 1224 782 PUU s Unit mm 90000 000 PUU 1139 981 PUU s Slave Pulse 53 052 PUU 80000 000 PUU 1055 179 PUU s Pulse pulse 70000 000 PUU W 12 732 970 378 Arey Master Simulated Speed 1 60000 000 PUU 100 pulse s 7 854225 mm s 885 576 PUUIs 50000 000 PUU Slave Information 800 775 Aare x 44 63 40000 000 PUU ee _ 715 973 PUU s E V Position Y 93992 896 PUU 1771 710 mm eera ans S Fj 1091 961 PUU s 20 5828 20000 000
113. 0000 Pulse Type P 1 00 X Pulse Direction Over Position error Threshold P2 35 3840000 10 Pulse 1 128000000 Electric Gear Numerator Setting P 1 44 P 1 45 Input pulse filter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed 128 1 536870911 1 416Kpps Low Speed 416Kpps High Speed Geari 12 80 Ca Law Speed 208Kppafigh Speed 1 2147483647 C 3 104Kpps Low Speed 104Kpps High Speed Source of pulse command Gear2 E 0 Open collector for low speed pulse 4 Line driver for high speed pulse DI O Setup Common Setup 128 1 536870911 Gear3 12 80 10 Pulse Command Filter P 1 08 C Yes 0 Unit 10ms 128 5368 0 1000 Gear4 _ i NO 10 Din must Select GNUMO 1 HBHRBREBEHE REE RRR RRR RR RRR eR eR eRe eee eae eee eee eee ee ae 2 HHRHEHR HEHEHE HE EERE ERR eee eee ee eee ee BEES EREERB EERE ESB RERERB REESE EERE WEE ES a L ParaThd Msg 201 Cmd 0 Step 8 Since b PR mode setting is a specific function in ASDA Soft click the function block below a reminder will pop up and ask users to click b for PR mode setting Internal Speed Torque The prompting message in main screen setup the PR Mode in PR Mode Setup W ease changed Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup
114. 00x4 100000 pulses Fill in 50000 and 100000 into the data array starting from position 50 The Compare function outputs DO4 every time when motor runs half cycle when the counting pulse is 50000 and one cycle when the counting pulse is 100000 Enable Bit1 of P5 59 X When CMP is complete P5 58 returns to the initial value The system will repeat the CMP function Enable Bit3 of P5 59 X When CMP is complete P5 57 0 The system will start another CMP cycle P5 59 X Ox000A Ox003B the second digit is from 0 3 The system will copy the current position of the main encoder to P5 57 and enable CMP function Therefore the system has to do the homing before enabling CMP function If the position of main encoder is larger than the value in data array which means P5 57 gt 100000 then there will has no output for CMP function Setting steps Step 1 Make sure the control mode must set to PR mode Use E Parameter Initial Wizard to select 0x0 1 PR Fosition control mode 0x02 S Speed control mode Then setup digital input DI DIJO Setup Select homing PR command trigger and internal PR command since servo drive needs to specify the start PR Please refer to 4 134 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide the setting below Digital Input DI Setup P2 10 P2 17 DIL C contact b DIS Ox21 Emergency stop C contact a contact b The next step is to adjust the pulse num
115. 014 4 39 ASDA Soft User Guide Chapter 4 Description of Motion Control Step 3 Create E Cam table The next step is to create the actual E Cam table The initial value of the sampling angle is 5 When drawing the curve the whole distance is 360 The system divides the E Cam points according to the value of cubic curve and sampling angle ECAM Table PEAL Stertpositionof Data ATAY d 4 Sampling angle x E Cam i i P5 82 E CAM Area Number 73 i H Greatecubiecuve a SEE anbe area number P5 19 E CAM Curve Scaling 1 P5 82 360 1 2 3 4 a bal an Postion Y Q 0 a 0 a m For creating a more precise curve if the sampling degree is set to 1 it brings the trembling speed command which is derivative of the position curve Users can choose the value with more decimal digits Then recover the command scaling by P5 19 so as to deal with this problem Cubic Curve Sketch E CAM Table P5 81 Start position of Data Array p I I 1 2 I a 1 7 10 01 l poston Y o ooo 0 00001 I AO c00001 f 4 40 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide o 30 60 90 120 150 180 210 240 270 300 330 360 Step 4 Create simulated E Cam curve Complete the setting of Step 3 and 4 Click Convert to E Cam Table to complete E Cam table The system will automatically create the simulated E Cam curve Users can download the
116. 0x21 Emergency stop contacta v External Digital Input EDI Setup P2 36 P2 41 EDIS 0x00 Disabled 7 contact a a sraa aa a a a a EDI10 0x00 Disabled Bj contacta Ta EDI11 0x00 Disabled x contacta las x Se ParaThd Msg 201 Cmd 0 July 2014 3 19 ASDA Soft User Guide Chapter 3 Advanced Operation 3 After the setting is completed please click ii write to servo drive The following window will pop up Delta ASDA Soft eo eA servo 4 Click i the setting will be written into the servo drive automatically Then a confirmation box will pop up 5 Click i Since the control mode has been changed please disconnect the software communication and remove the communication cable Then re servo On the servo drive 6 After the servo drive is re power on users can directly click Work The communication setting is complete Please refer to the following description for the setting method of scope Step 1 format setting of the screen Users have to firstly setup scope display form including the setting of coordinate and coordinate status when capturing the waveform See below for further explanations 1 Adjust the range of coordinate Users can use Properties which is on the right of the window to adjust the setting Condition Fine Tuning Properties V Keep current max min value while running V
117. 1 a a 12 80 10 Gear4 128 1 536870911 eT ee DIn must Select GNUMO 1 July 2014 ParaThd Msg 201 Cmd 3 95 ASDA Soft User Guide Chapter 3 Advanced Operation Step 8 If users desire to setup speed or torque limit please click the fourth block Internal Speed Torque Common Setup Position Mode Setup The screen on the right will be switched to the one as below 1 Pare Te Initial Wizard e eae Besado A Control Mode j 1 01 gt 0x00 PT Position control mode X sous Mode is changed Must Reboot Drive to Enable Setting TTTTREEEEEEELELELELELELELELLEELLLLE LL Speed Torque Limit Setup P1 02 X speed limit 0 Disable speed limit function 1 Enable speed limit function only for T mode 0x00 PT Mode Speed Command Limit Source P 1 09 P 1 11 Din must Select SPDO or SPD1 1 2000 RPM TIR 60000 60000 FE P102 Y torque limit 0 Disable torque limit function 1 Enable torque limit function only for P S mode Os Torque Limit Setting P 1 12 1 14 Din must Select TCMO or TCM1 _ ParaThd Msg 201 Cmd 0 0x01 PR Position Control Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 01 0x0 1 PR Position control mode 0x00 PT Position control mode 0x01 FR Fosition control mode 0x07 5 5peed control mod
118. 1 40 50001 RPM 10v 0 50001 ion Overspeed Warning P2 34 Speed Threshold Over 5000 RPM i 5000 5 Curve Time of Speed Filter P1 34 P 1 35 P 1 36 TACC 200 ms 1 65500 TDEC 200 ms 1 65500 3 0 ms 0 65500 meter Initial Wizard S a Hi O trol j 1 0 A 4 e S T Speed control mode Torque control mode neta iene ts Must Reboot Drive to Enable Setting a 0x02 S Mode aaa 0x03 T Mode 004 Sz Mode 0x06 PT S Mode 104071 PT TMode 0x08 PR S Mode 0x09 PR T Mode _ 0x08 CANopen 0x0D PT PR Mode amp Torque Mode Parameter Setup Max Analog Torque Commmand P 1 41 Analog Torque Command Filter P 1 07 C YES 0 1000 NO 100 10V I 0 1000 a E Sic ParaThd Msg 201 Cmd 0 Chapter 3 Advanced Operation July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 9 If users desire to setup speed or torque limit click the fifth block Internal Speed Torque The screen on the right will be switched to the one as below sad o Q na petal Mode Selecion 1 21 0x0A S T Speed control mode Torque control mode v A Must Reboot Drive to Enable Setting 0x01 PR Mode 0x02 S Mode j 0x03 T Mode BEBBBBBBRBRBRBRBRBRPRPRPRPRPRee eee eee ee eee Y Speed Torque Limit Setup P1 02 X speed limit 0 Disable speed limit
119. 1 Always move reverse reverse rotation 2 The shortest distance S_LOW speed unit 0 0 1r min 1 0 01r min ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 v DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 v SPD Target speed index Povoo 20 0 P5 6C 7 DLY Delay time index DLYOO 0 P5 40 v Calculate Electronic Gear Ratio Gear A i P1 44 SARN P1 45 GearB 1 Click OK to download all index parameters and P2 52 x Here are the setting procedures Step 1 Setup indexing coordinates scale and total points Start of PR Path 1 a set the interval between two paths Knife numbers Path Size 10 P2 52 Indexing Coordinates Scale PUU 100000 4 98 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Knife numbers Path Size P 52 Indexing Coordinates Scale PUL In first step specify knife number and indexing coordinates scale PUU These two values relate to the coordinates motor s rotating angle of each index point For example if indexing coordinates scale is set to 100 000PUU and knife number path size is 10 path of each index will be Leag 10 000 PUU Start of PR Path 1 In addition users can also specify the start of PR path to program the system with other PR If desire to interrupt other PR between two indexing points e g write the p
120. 10 Speed limit enabled 0 11 Position command selection 1 64 Bit Ox ition command selection 1 64 Bit1 Users can set the digital input DI status as a contact frequently open or b contact frequently close DIL 0x0 i Servo On Step 4 Setup External Digital Input EDI command July 2014 Y External Digital Input EDI Setup P2 36 P2 41 EDIS 0x00 Disabled contacta contactb EDI10 EDT11 0x00 Disabled contacta E contactb EDI12 0x00 Disabled contacta contactb EDI 14 EDI13 0x00 Disabled contacta i contactb 3 93 ASDA Soft User Guide Chapter 3 Advanced Operation 3 94 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup Digital Output DO command Y Digital Output DO Setup P2 18 P2 22 DOL 0x0 1 Servo ready DOZ 0x03 At Zero speed 0x09 Homing completed contact a 0x05 At Positioning completed contact a 0x07 Servo alarm Servo fault activated There are 35 command selections of digital output Users could directly set it up via the drop down menu Ox01 Servo ready A O0 Servo On pS 0x07 Servo alarm Servo fault activated 0x08 Aectromagnetic brake control 0x09 Homing completed 0x10 Output overload warning 0x11 Servo warning activated Ox 12 Position command overflow Users can set the digital output DO status as a contact frequently o
121. 14 3 99 ASDA Soft User Guide Chapter 3 Advanced Operation step 7 When the setting of Common Setup is complete the next step is Position Mode Setup PR Mode Setup Internal Speed Torque The screen on the right will be switched to the one as below ei Parameter Initial Wizard Asado amp _ DI O Setup Control Mode Selection P 1 01 _ 19x90 PT Hode 0x01 PR Position control mode if Control Mode is changed Must Reboot Drive to Enable Setting __ 0x01 PRMode j Type of Pulse Command Input P 1 00 xz Target Position Error Range P 1 54 Ifa ESE TORES 2 Eue Lom 12300 Pulse 0 1280000 Pulse Type P 1 00 X Pulse Direction Over Position error Threshold P2 35 3840000 10 Pulse 1 128000000 i ee ee aaa Electric Gear Numerator Setting P 1 44 P1 45 Input pulse filter P 1 00 Y 1 0 1 66Mpps Low Speed 6 66Mpps High Speed 2 ian 4 416Kpps Low Speed 416Kpps High Speed Ga 12 80 0x08 PR S Mode 2 208Kpps Low Speed 208Kpps High Speed fio 12147483647 Fs 3 104Kpps Low Speed 104Kpps High Speed E Source of pulse command Saar 128 GN 0 Open collector for low speed pulse 10 1 Line driver for high speed pulse 128 1 536870911 iho 12 80 s pons Pulse Command Filter P 1 08 j C Yes fo Unit 10ms ha
122. 2 46 Torque Load Speed estimator If the resonance frequency is over 2 000Hz it means the response frequency and gain value have exceeded the one the mechanism can take lt is suggested to reduce both and then re do FFT analysis The following diagrams are the system of open loop gain with resonance Notch filter can be used to suppress the resonance Resonance suppression with low pass filter The resonance resonance point has been x potnt notch filter suppressed A Odb izi i k i I P2 24 a a acy resonance frequency P2 25 resonance frequency a resonance frequency Step 6 The resonance point is at 660Hz the relative value is 10 000 In frequency domain software is unable to fetch the relative signal value input and output simultaneously thus it is suggested to regard the frequency point as the main parameter Then gradually adjust the value starting from 10dB July 2014 3 31 ASDA Soft User Guide Chapter 3 Advanced Operation Thus use the function of resonance suppression under F Auto Gain Tuning P2 47 0 Disable Auto Resonance Suppression Mode P2 23 Resonance suppression 1 Hz 50 1000 660 P2 24 Notch filter attenuation rate 1 de 0 32 4q P2 43 Resonance suppression 2 y2 50 2000 1000 P2 44 Notch filter attenuation rate 2 da o 32 0 ry P2 45 Resonance suppression 3 Hz 50 2000 1000 P2 46 Notch filter attenuation rate 3 dB o 32 o
123. 200 P5 20 Time 1 533 ms SPD Target speed index POvOO 20 0 P5 60 gt x 0 1 DLY Delay time index DLYOO 0 P5 40 The setting of acceleration deceleration time uses Acce Dece Time from Speed Time Setting as the index Time 1 333 ms Please note that the calculation method of is the same as PR Overlap that mentioned above July 2014 4 91 ASDA Soft User Guide Chapter 4 Description of Motion Control ACC Time Index of accelerating to rated speed 3000rpm aco 200 P5 20 Time 1 533 ms DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 Time 1 333 ms The setting of target speed uses Internal Target Speed from Speed Time Setting as the index Please note that indicates the value of minimized speed Setting of low speed value can be more precise and more stable in low frequency If desire to increase the speed unit from 0 1 r min to 0 01 r min check can improve the precision E xo SPD Target speed index POVOO 20 0 P5 60 The setting of delay time uses Delay time from Speed Time Setting as the index Please note that without interrupt INS and overlap OVLP command the delay time will start from the moment the target position is reached If external interrupt is set the setting of delay time will be invalid DLY Delay time index DLYOO 0 P5 40 7 Data In position control DATA is the command of t
124. 201 Cmd 0 Step 7 When the setting of Common Setup is complete the next step is Position Mode Setup The screen on the right will be switched to the one as below Paramete 0x00 PT Mode _ 0x01 PR Mode f0x02 Mode oo 0x03 TMode 1 l0x04 sz Mode 0x05 Tz Mode 0x07 PT T Mode 0x08 PR S Mode 7 _ 10x09 PR T Mode _ 10x0A S T Mode 7 r made a Ox0F PT PR T Mode _ 0x06 PT s Mode __ 0x0 PT PR S Mode Bsa A sro i Position Mode Parameter Setup Type of Pulse Command Input P 1 00 X Z Logic Type P 1 00 Z Positive Logic Pulse Type P 1 00 x Pulse Direction Input pulse filter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed 1 416Kpps Low Speed 416Kpps High Speed 2 208Kpps Low Speed 208Kpps High Speed 3 104Kpps Low Speed 104Kpps High Speed Source of pulse command 0 Open collector for low speed pulse Pulse Command Filter P 1 08 Yes fo Unit 10ms 4 Line driver for high speed pulse NO Target Position Error Range P 1 54 12300 Pulse 0 1280000 Over Position error Threshold P2 35 2840000 10Pulse 1128000000 Electric Gear Numerator Setting P 1 44 P 1 45 i23 1 536870911 12 80 fo 1 2147483647 Gearl 128 1 536870911 Gear2 s 12 80 128 1 53687091
125. 5 07 1 4 102 jump command the mission is complete once they have been accessed 4 The best way is to get an ASDA A2 servo drive and entering these PR Then use PC scope to monitor the two different combinations a Feedback position PUU 32 bit Motor speed Real time r min Parameter P5 55 use mapping parameter or directly enter the address O x 20002537 b Motor speed Real time r min Parameter P5 55 use mapping parameter or directly enter the address 0 x 20002537 Parameter P5 07 uses mapping parameter or directly enters the address 0 x 20002507 5 P5 07 displays the next PR that is going to be executed Setting tips Find out the stop point of 1ms and then read back from behind This way can quickly check the execution result of PR group Please refer to Chapter 1 6 in ASDA A2 Application Note for further information Case 1 PR Position 3 PR Jump 7 4 Write PR Position 3 X Write 4 D 0 S 20 0 rpm 2 DLY 0 10 DLY 0 11 D 0 S 100 0 rpm 12 DLY 0 200000PUU IN l PR 10 I P5 55 10 300000PUU INC I P5 55 12 PR 1 PR 2 PR 10 1ms group PR 11 PR 12 1ms group PR 10 to PR 11are sequent command since PR 11 has no insertion setting PR 11 can be executed not until all PR group is done and releases the resource In this case when the motor operates 200000PUU by 20rpm P5 55 10 When the motor operates 300000PUU by 100rpm P5 55
126. 5 1755 3616 850 3635 525 SBF 2 075 3691 55 4 142 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 4 143 ASDA Soft User Guide Chapter 4 Description of Motion Control This page is intentionally left blank 4 144 July 2014
127. 6 the screen Users can use button of Zoom in or Zoom out to adjust the window size of scope Also users also can directly press F5 to zoom in or F6 to zoom out the image Through Fine Tuning on the right of the screen to setup Zoom Multiple to adjust the factor Its percentage takes integer only The minimum value is 1 and the maximum one is 999999999 Setting Fine Tuning properties Move Offset 200 For example After capturing a section of curve use or F5 to magnify the whole graph July 2014 3 5 ASDA Soft User Guide Chapter 3 Advanced Operation 4 Previous screen F7 When using Zoom in or Zoom out to adjust the size of oscillograph This function can turn the graph back to the previous status For example a use or F7 to turn the curve back to the When adjusting a section of curve previous screen 5 w Show all data in screen This function can turn the graph back to the original captured size However this function cannot automatically adjust the max min value of each channel When adjusting a section of curve use i to show the data of all channel in one time axis 6 re Show all data in the screen and adjust the max min value automatically When setting When show all data in screen as channels use the individual coordinate in Properties on the right side of the main screen users could use this function to adjust the ma
128. 7 JM Int Switching Gain Rate P2 05 Switching Speed Integral Control Compensation Selection i l i P2 06 f P2 27 Gain l Switching Control arque Selecion Command P2 27 Currant Command Torque Constant Reciprocal VAT Low pass x rie Baad speed Estimator July 2014 3 43 eee ye oe od ASDA Soft User Guide 3 3 Digital IO JOG Control d s 3 44 Chapter 3 Advanced Operation Users can control digital input and output through the software interface This function can be used to do simulation monitor of each signal With the function of scope and E Cam status simulation can also be done Moreover it can make sure the contact works properly before the actual operation Simple JOG control is also provided Users can slightly adjust the position Edit DI O Item Reflash Disable DI1 0x00 Disabled Weim ao DI2 0x00 Disabled Meme onc DIZ 0x00 Disabled Meme onic DI4 0x00 Disabled Meme onion DI5 0x00 Disabled Meme cnc DI6 0x00 Disabled Meme onc DI7 0x00 Disabled Meme onior DI8 0x00 Disabled EAM onor DIS 0x00 Disabled Meme cnc D110 0x00 Disabled Meme ont DI11 0x00 Disabled Meme onos DI12 0x00 Disabled G on ier DI13 0x00 Disabled Meme aos DI14 0x00 Disabled PMR onor Digital Output D0 f Enable DO Control Status Enable DO1 0x00 Disabled OFF Anji
129. 748 PUU 319999 728 PUL 10 105 PUL 279999592 PUL 69 957 PUL 239999 456 PUL 129 810 PULSE 199999320 PUL 183 662 PUUKS 159999 184 PUL 249 515 PUUA 119999 048 PUL 309 368 PUUS 79998 9127 PUU 369 220 PUU 39998 7777 PUL 429 072 PULSE 1 359_ PUL 0 30 60 90 120 150 180 210 240 270 300 330 36e ee Pous July 2014 4 33 49 748 PUO I The coordinate ASDA Soft User Guide Chapter 4 Description of Motion Control Export the second section Right click the mouse at any column of the E Cam table Select Export points Since there are 200 parts in this section users should fill in values between 0 and 200 Then save the data of the table Quick Input Edit Insert one Delete one Import points Export points Right click the mouse on the table select Export points The following window will pop up Export points sea From 0 To 200 V All points Save integer only EELEE Seperate symbole Tab 4 ok Cancel Then setup the range Cancel the option of All points in this window Manually enter the range from 0 to 200 From 0 To 200 All points Click ee to open the screen for exporting files and to export the first section of curve Hea G am 5 Cosas 4 J seg SMe ABR LASSE G m SET HAJEE z ARS FDIS wew tE e RAUT HA 4 34 July 2014
130. 8 Read only A Setup when Servo Off Not effective until a Volatile Parameter for three axes Svea m n p gt 1 046 P0 01 ALE e R DEE 00 Drive Fault Code Po 02 ss 300 a aa Po 03 MON 0x0000 0x0077 0x0000 Analog Monitor Output PO 04 w 0x00000000 0x20FFFFFF 0x00000000 Reserved PO 05 a 0x00000000 Ox20FFFFFF 0x00000000 Reserved PO 06 0x00000000 0x00000000 0x20FFFFFF 0x00000000 Reserved m 0x00000000 0x20FFFFFF 0x00000000 Reserved po 08 TSON Hour 0 65535 0 Servo Startup Time E oo o o O 2147483648 2147483647 0 Status Monitor 1 po 10 E cm Uo 2147483648 2147483647 0 Status Monitor 2 Po 11 E s oee 2147483648 2147483647 0 Status Monitor 3 Po 12 E om4 e 2147483648 2147483647 0 Status Monitor 4 po 13 E s TE 2147483648 2147483647 0 Status Monitor 5 po 14 32768 32767 0 Reserved Po 15 e 32768 32767 0 Reserved Ipo 16 J oo o o 32768 32767 0 Reserved PO 17 CM1A oOo O 0 127 0 Display Status Monitor 1 CM2A 0 127 0 Display Status Monitor 2 PO 19 CM3A 0 127 0 Display Status Monitor 3 PO 20 CM4A a 0 127 0 Display Status Monitor 4 PO 21 CMSA n 0 127 0 Display Status Monitor 5 Po 22 oOo o o 32768 32767 0 Reserved Po 23 oo o o O 32768 32767 0 Reserved po 24 Dae 32768 32767 0 Reserved E mai 0x00000000 Paramenter Mapping 1 re power on P1 xx F July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide d The 7 row shows the param
131. 83648 2147483647 0 Status Monitor 1 po 10 E om bae 2147483648 2147483647 0 Status Monitor 2 7 PO 11 x E e 2147483648 2147483647 0 Status Monitor 3 7 PO 12 x om ES Sr 2147483648 2147483647 0 Status Monitor 4 J z Po 13 A E s be 2147483648 2147483647 0 Status Monitor 5 a a Po 14 x a 32768 32767 0 Reserved 7 m po 15 x ee 32768 32767 0 Reserved E jpo 16 ae 32768 32767 0 Reserved E PO 17 oma hb 0 127 0 Display Status Monitor 1 sl m PO 18 CM2A TE 0 127 0 Display Status Monitor 2 a po 19 cM3A i5 0 127 0 Display Status Monitor 3 s a oma faio o ooo 0 127 0 Display Status Monitor 4 a m jpo 21 CMSA OQ 0 127 0 Display Status Monitor 5 E po 22 32768 32767 0 Reserved a PO 23 x fo 32768 32767 0 Reserved m PO 24 I lt 4 32768 32767 0 Reserved q a Po 25 E mai 0x00000000 Paramenter Mapping 1 E Tee eee eee eee PPP Pee eee eee eee eee eee eee eee eee eer Hi a m m Read Only While Servo OFF Valid After Reboot E Volatile Parameter The parameter sharedby m ee EEEEEEEENE 2 8 2 EEE 2 8 8 EEEE Now in 1731 Note Double T the valine can be call out the Parameter Setting Helper A 1 2 July 2014 Tabs All parameter group number will be displayed here Select the parameter group by switching the tab When Frequently Used Parameter Group is opened its tab will be displayed here Main screen of working area The detailed description of all parameter will be dis
132. A A acces ala PAS eas satis EEE oe meme ea TO i 1 I I I 1 I I i I I I I 13 10 6 weep ee pe ge pe ee ge pet T Li OOX Norme a2bit PAR Parar m 32bit v CHGVAR Varial 32bit T CHAITADR Addn w 32 bit Pi 3 O 127 2S iE ae E Ri TT ie eT im AH EENE E Da O o oa Raid vo ODK Norme 32bit i PAR Parar v T 32bit I CHa VAR varial 1 32bit 1 Ch o ADR Addn 32 bit TT C227 EE O i 2 E id TT i a ie a ee TT From this example users could learn setting of scope screen How to capture the waveform How to adjust the size of the waveform and the function of direction key How to zoom in the special area or adjust the time range that desire to monitor Save the captured waveform Oe a 3 18 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Followings are the parameter setting method of this example Other functions will be detailed in later chapter 1 Open software and make sure the connection is successfully built Then use Parameter Initial Wizard to setup internal soeed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position
133. A NELTA IABU Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province People s Republic of China Post code 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C Post code 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 Delta Electronics India Pvt Ltd Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 124 4874945 Americas Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A TEL 1 919 767 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua Itapeva 26 3 andar Edificio Itapeva One Bela Vista
134. Auto adjust the scope display When display all data in screen C channels use individual coordinate channels use the same coordinate a Keep current max min value while running Check represents the initial value It means every time when scope starts to capture the data the max min value on Y axis will be used as the capturing range If users desire to return to the initial setting after capturing the waveform please manually cancel this function 3 20 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide b Show Grid Line Check this function to show grid line on screen the gray button in the front can be used to setup the color Light gray is the default setting c Auto adjust the scope display Check this function to enable the software auto adjusts scope display form 2 Adjust the coordinate of each channel Users can use the function under Properties to adjust the displayed coordinate of each channel When display all data in screen C channels use individual coordinate channels use the same coordinate Select channels use the individual coordinate means the value and time of each channel will be different according to different setting of monitor items Select channels use the same coordinate means the value and time of each channel will be the same according to the same setting of monitor items This function is frequently used When analyzing the waveform with different unit of monitor
135. C 2 MONIC MON2 4 3001 W 0 3001 C 3 MON1 MON2 r 5 j Max Motor Speed P 1 55 Delay of Brake Selection P 1 42 P 1 43 d MBT1 fo 0 1000 ms e001 RPM 10 6001 meee H a MBT2 jo 1000 1000 ms ste eee _ 0x0D PT PR Mode 0x0E PT PR S Mode _ _ LOx0F PT PR T Mode MBTI P 1 42 HBT2 FL 43 zsep P 1 38 BHRHHEHRHEHRE HEHEHE BERR eRe eee 2 ees SBR RR RE RRR BRE RRR RE RSS 8 886 eee Step 7 Since it is in dual mode the system provides setting blocks of soeed and torque mode Setup Speed Mode first July 2014 3 143 ASDA Soft User Guide 3 144 0x05 Tz Mode _ 0x0A S T Mode I 10x0C Reserved L0x0E PT PR S Mode i 0x0F PT PR T Mode os Parameter Initial Wizard saat O of a QJ ECOC 210x01 PR Mode TORT 0x03 T Mode 0x04 Sz Mode _ 0x05 Tz Made 0x06 PT S made 0x07 PT T Mode 0x08 PR S Mode 0x09 PR T Mode 0x0A S T Mode 0x90 PT PR Mode _ 0x01 PT PR S Mode trol Mode 1 0x04 S T Speed control mode Torque control mode The screen on the right will be switched to the one as below X a A A Analog Speed Command Filter P 1 06 Enabled fo ms 0 1000 Disabled Target Speed Threshold P 1 39 Target Speed Over 3000 RPM 0 5000 Max Analog Speed Commmand P
136. C J Line driver for high speed pulse Gear3 fonemis 1 0 0x07 PT T Position control mode Torque control mode n ae ea ci Chapter 3 Advanced Operation A BZ RBBB RBBB RRP RRP RRR RP Ree RRP RP eR eRe eR RRP RP Re eR Ree eee ee ee eg Y Position Mode Parameter Setup a Logic Type P 1 00 Z Positive Logic izg00 ae Qa Pulse Type P 1 00 X Pulse Direction ca ieee Over Position error Threshold P2 35 E 3840000 10 Pulse 1 128000000 Electric Gear Numerator Setting P 1 44 P 1 45 Input pulse filter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed us 1 536870911 1 416Kpps Low Speed 416Kpps High Speed Geari 12 80 fio 1 2147483647 128 Source of pulse command Gear2 oleae 0 Open collector for low speed pulse 10 128 1 536870911 a 4 Command Filter P 1 08 C Yes fo Unit 10ms 128 m 0 1000 Gear4 saci 4 NO 10 CE LEaeEeEEBEEBEEBEE EB EEE EBEEEEE EE SE Din must Select GNUMO 1 BEB RRB RRR RRR RRR eee eee eee eee eee _ _ Type of Pulse Command Input P 1 00 X Z Target Position Error Range 1 54 ParaThd Msg 201 Cmd 0 Step 8 Then setup torque mode The screen on the right will be switched to the one as below 4 E4 0x02 5 Mode 0x03 T Mode 0x04 Sz Made 0x05 Tz Mode RO5LEUS Mode Analog Torque
137. C scope Mapping parameter can be used to read the content of P5 07 A scope channel can be assigned to monitor the variation of P5 07 which can display the next PR that is going to be executed P5 07 For example PR 3 to PR 4 and so on when PR 8 is executed in PR Executor PR 4 will be shown in P5 07 To read P5 07 if 1 The accessing value is the input PR This PR is waiting for the authorization of PR Executor or the last executed PR is complete 2 The accessing value is the input PR 10000 PR command is complete but the motor is not in position yet 3 The niece value is the input PR 20000 PR is complete Sn Sn in in ia a ia ia Ba a a Ba Ba a a a a a A a tee oe foo i fn ft a i Condition Fine Tuning Properties V Keep current Max Min while running 14155 h n ne te 5 E fi dd ps 4 4 b t 4 b i V Show Grid Line Auto adjust scope display Form pie show all data en channels u on a id al coordina C chann nels u e the ame nat CH2 MAPPING 1 PO hh T ADR Iv 32bit f iv E ADR 32 bit TE nH 40 MA Sz I CH4 i T ADR 32bit Information MAPPING 1 PO 25 aso aS Re PO 3 Time 7213 750 ms ieee interval 1889 250 ms er ME Dae 7 Relative J Relative 4 103 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 3 Capture CAP Compare CMP Ar For the ap
138. Chapter 4 Description of Motion Control ASDA Soft User Guide motor rotation number PUU 200 target speed PPS 3 x 60 sec makes l Thus motor rotating number 36 000 PUU Since PUU of the motor is 10 000 per cycle the target speed shall be 200 r min in 3 minutes The motor rotating number will be 36 000 10 000 3 6 cycles Speed Time Setting In constant speed control users can setup the acceleration deceleration time and accelerates or decelerates from current speed not always 0 to target speed The time index is selected via acceleration deceleration time in Speed Time Setting ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 Time 0 000 ms DEC Time Index of decelerating from rated speed S000rpm ACOO 200 P5 20 Time 0 000 ms In addition users can also setup delay time via this function Please note that the delay setting in constant speed control shall wait until the target speed is reached and is selected via delay time register in Speed Time Setting BLY Delay time index DLYOO O P5 40 Data This is used to setup target speed which is the speed motor accelerates or decelerates from current speed not always 0 Users can manually enter the value Target Speed 0 60000 60000 E Single positioning control Motor stops when positioning is complete E Auto positioning control Motor goes to the next path when positioning is com
139. Condition Fine Tuning Properties Keep current max min value while running V Auto adjust the scope display When display all data in screen channels use individual coordinate _ _ Set as accessing feedback position zbit Z _ Set as accessing DO status In addition since the unit of feedback position and DO status is different please use Individual coordinate July 2014 4 141 ASDA Soft User Guide Chapter 4 Description of Motion Control Condition Fine Tuning Propertes Keep current max min value while running J Show Grid Line Auto adjust the scope display When display all data in screen channels use individual coordinate channels use the same coordinate Step 17 It is suggested to enable A digital IO and software scope to operate Use DI to execute homing and trigger PR command Then use scope to monitor the curve simultaneously i pis ATI Toh AMD AAT Zeren ot HE Th fit AE he BFA BA OMFL 4 OG Bue PRROOg mE HE Moe i fhe HE 100 ryan Se Se ie on TAE Furi Eed jPa hell Sejer F ASAT io ASD Moi eres Step 18 Take one part of Bold Plot to observe We can see the triggered cycle of DO4 is 50 131PUU which is close to 50 000PUU set by us The length of input length is also close to 100ms of P5 59 CBA er4ros040 walue ey ee eee eee ory i 3579 500 23595 1756 3616 850 3635 525 3672 075 36911 5500 3579 500 2359
140. DLY Setup O NO LES O NO YES Target P5 59 COMPARE Enable Control BLY Delay time index 0x00010000 Ox0FFF313F 4 137 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 138 PR 33 Setup Constant Speed Control The target speed is 200 r min INS When this PR is executing it interrupts the previous one ONO 4 yES AUTO Auto move to next PR when completed ONO S 1YES UNIT Unit O irpm 1 PPS PUU per sec Speed Time Setting ACC Time Index of accelerating to rated speed 3000rpm ACO0 200 P5 20 Time 13 333 ms DEC Time Index of decelerating from rated speed 3000rpm Time 13 353 ms DY Delay time index Target Speed 2000 60000 60000 For the setting of PR 31 and PR 32 that mentioned before P5 59 X 0x000A gt 0x003B The second digit is 0 gt 3 At the moment the system will copy the current position of the main encoder into P5 57 and enable CMP function The system needs to do homing before enabling CMP function Therefore the system has to do the homing before enabling CMP function If the position of main encoder is larger than the value in data array which means P5 57 gt 100000 then there will has no output for CMP function Step 7 Refer to the diagram below to setup homing mode x gt Homing Method X 4 Look for Z in forwad direction and regard it as homing origin Y gt Signal Setting P5 05 ist Speed Set
141. EDI Setup P2 36 P2 41 0x00 Disabled EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Output DO Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu x0 1 Servo ready 0x02 Servo On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Alectomagnetic brake control 0x09 Homing completed 0x10 Gutput overload warning 0x11 Servo warning activated 0x 12 Position command overflow ui mW Users can set the digital output DO status as a contact frequently open or b contact frequently close July 2014 4 ASDA Soft User Guide Chapter 3 Advanced Operation Step 6 Common Setup Internal Speed Torque The screen on the right will be switched to the one as below 1 Parameter Initial Wizard Bead eo En z Control Mode Selection P 1 01 a J 0x06 PT S Position control mode Speed control mode 7 f Control Mode is changed Must Reboot Drive to Enable Setting ECT TOTH _ 0x031T Mode 0x04 Sz Mode 0x05 Tz Mode 0x06 PT S Mode Tecmo Encoder Output Pulse Number P 1 46 2500 Pulsefrey 20 320000 Pulse Output Polarity
142. EE AEEA o C a W LRAU T text m AA 5 ate Tab nr can be used to divide the exporting data Several ways are provided see as below New Line Second section The second section is reverse operation Create the position curve in opposite direction Then acquire the required curve by editing the value Acceleration Create the position curve in opposite direction Then acquire the required curve by editing the value 41 200 divisions gt First create the curve in opposite direction 200 parts are in total Then enter the value according to the proportion of each area to acquire the curve in forward direction July 2014 4 31 ASDA Soft User Guide Chapter 4 Description of Motion Control ee ee ee ee l S ct z a e STA oe a 200 parts E Cam area number le P5 81 Start position of Data Array a ea he Sah i P5 82 E CAM Area Number aaa aa aa are are eae ae i IDL1 Waiting Area I Allocate 85 for constant speed area I and equal division for the rest _ meee eS eee i I According to the figure below allocate IDLE Stop Area 55 for Stop area and 45 for the lt O woo Emm others I M SEON S OEE l Acceleration DOSE nstant Speed EEE m m Bes S N ES See Deceleration Page EJIE 41 200 divisions e y o aean ae Ge a a a d 270 300 330 360 p es e e A A I When the s
143. L it automatically calculate the pulse number of master axis P5 84 When select this option if the destination is July 2014 Chapter 4 Description of Motion Control July 2014 a ee Sem Pa em nol me mm pets met et me neem mas eens pa ae nen e ey l Slave Puke 100000 PUU i 1 pe te e020 2 Master Pulse 7 532 pulse Soba int le wee i alag nh Nan 1 PUL Lain Simulalzu Sveci Jy pusejs Lann oa A R pe ae a a wi ms wh i os ae a es enec 20 tani ASDA Soft User Guide unchangeable the traveling distance for slave axis is fixed the system will automatically calculate the value that P5 84 needs according to the destination step 5 Click to complete the table on the right Then click raw to confirm the E Cam simulation In addition the E Cam curve can be created according to the traveling distance of master axis in some applications AE 8 l s 81 Start sear ton of Data array Luu l D RI F CAM Area Sumner 200 l P1 44 1 28 P1 45 1 0 Step 2 oe l l Speed Fittina 322 asi 0 gt p P5 83 E CAM Cyde Number M I l ee Creation AOC Acceleration Area Ss RA gt 10 lt j PS 84 2uls gt umher cf master ais 2 Abt Hulse m mber cf master aas P corresponds ta Ft AM able N cycle CONS Constant Area 85 Yo gt z DEC De Deceleration Area gt gt ia a L 5 7 2
144. O L Lock array address 100 2799 S Lock array address 500 799 O ILo array address 200 2799 6 Lock array address 600 799 3 Lock array address 300 2799 7 Don tlock the array When password setting is complete the following window will pop up Password Protection Data Array Protection Level Motion parameters are protected Support from V1 027 O Lock the whole array 4 Lock array address 2400 799 L Lock array address 4100 799 S Lock array address 500 799 2 Lock array address 200 799 6 Lock array address 7600 799 3 Lock array address 300 799 F Don t lock the array Password l 1 16777715 Password Setting R Password Protection Data Array Protection Level Motion parameters are protected Support from V1 027 O Lock the whole array 4 Lock array address 400 799 d Lock array address 100 2799 S Lock array address 500 799 2 Lock array address 200 2799 6 Lock array address 600 799 3 Lock array address 300 799 7 7 Don t lock the array Password 1167777215 Enter the password Password Setting Remove Password 4 66 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Stop Operation When users is editing parameters in online status if desire to stop accessing parameters via communication click and the following warning message will pop up and stop parameters accessing Delta ASDA S K Read
145. ON LINE Operation onl Read CAP Parameters sill Write CAP Farameters p CAP Disabled Before enabling ON LINE operation it is suggested to use fl Read CAP Parameters 4 check if the servo drive is still in initial setting or has completed the setting of CAP after re servo on if the captured parameter is not set from the beginning In CAP function DI7 accepts the physical signal only and cannot simulate by software Thus neither digital input output signal of ASDA soft nor DI control of communication can simulate the input of CAP function Please make sure the wiring of command signal from the controller is correct before operation When ON LINE operation is enabled the setting page will be locked by software so as to avoid any occurrence of error during testing procedure P5 36 Capture Arrary start address o 0 799 P5 37 Capture axle position lo P5 38 Capture Amount p 1 P5 39 X Capture Options P5 39 Capture Enable Control S E lo P5 39 axle source amp i oO P5 39 7 Trigger logic o i P5 39 U Trigger time interval 2 O 15ms July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 Click ik cappisabled means to trigger bit 0 of P5 39 X Start to CAP And Tk car Disabled P5 39 X bitO 0 the status will become DL cor eri P5 39 X bitO 1 When the value of P5 38 Capture amount is more than 0 LE DOERR will start capturing and DO CAP_OK i
146. P5 88 U 4 E Cam moves to the setting value U of P5 89 disengages Then goe Bit E to cyclic mode P5 89 z E Cam moves to the setting value PS 88 U 6 of P5 89 disengages Then Bit gradually stops P5 89 Call PR if P5 88 BA Disable E Cam if Bit is not zero 3 of P5 88 U is set Please note that E Cam disengages and E Cam is disabled are not the same E Cam disengages It encounters disengaged problem only when it is in operation P5 88 X 1 Disable E Cam function Only when E Cam function is disabled the disengaged condition can be changed P5 88 X 0 a Disengaged condition 2 4 and 6 cannot be setup simultaneously Weis b When the disengaged condition is 1 2 or 6 users can disable E Cam function after disengaged Bit 3 of P5 88 U P5 88 U 8 For example if P5 88 U 6 and E Cam function is disabled after E Cam is disengaged then P5 88 U 8 6 14 gt P5 88 U E hexadecimal value c When the disengaged condition is 2 4 or 6 it can call PR after 4 20 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide disengaging PR can be specified from P5 88 BA m Disengaged type See as above when it reaches disengaged time P5 88 U 2 4 6 it automatically executes PR hexadecimal 00 3F 00 means no action aged Type While reaching disengaging size call PR PROI PROZ PROZ PRO4 PROS PROG PROF gt a
147. SHR Ti Parameter File par aA Parameter File par ae Text File tt 3 HAJEN D 8 LAM 4 WD FristeL D Parameter File par par It is the file format of ASDA Soft Open it by the way of opening the parameter file txt Save a parameter file as a Text file See as below ASDA A2 Servo Paranter HARIS ER Ef CMe RAA FARE me AB PO 68 VER 49 null 604541 097201 3604541 SJES h as P9 61 ALE 6x 6000 null pe FIFE 0x0000 Ea Peete HEKERE Te PO 62 STS 1 null 308 127 300 Eeahssttacse PG 83 MON 6x69000 null 6x 9000 6x 6077 oxo000 8 hin HERE PO 64 6x 90800008 null 6x66600000 Gx26FFFFFF 6xoG000000 FETH IEIEVE 1 PO 65 6x 90800008 null 6x66600060 OGx26FFFFFF 6xoG000000 FERAE E 2 PG 66 6x 69800008 null 6x66600000 O6x26FFFFFF OxOOOOOOOO Ei hisSto 3 PO 67 6x 90800008 null 6x66606006 Gx20FFFFFF 6xG0000000 FETH IEIErE 4 PO 88 TSON 8 H 8 65535 o fa eeehis hy PO 69 CH1 8 null 2147483648 2447483647 2147483648 HEREREPeeh ess 4 PO 16 CM2 8 null 2147483648 2447483647 2147483648 FRERE Peer eee 2 P8 11 CH3 8 null 2147483648 2447483647 2147483648 FRERE Peer ESE 3 P8 12 CH4 8 null 2147483648 2447483647 2147483648 FRERE Peer Se 4 P9 13 CHS 8 null 2147483648 2147483647 2147483648 HPACESPeEn Gees 5 PO 14 8 null 32768 32767 32768 PEZ P8 15 8 null 32768 32767 32768 HE2 PG 16 8 null 32768 32767 32768 HE2 P8 17 CHA 8 null 8 127
148. Servo Run Ez A Line Before gain tuning B Line After gain tuning 3 62 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 3 5 Alarm Information A Users could know the error and basic troubleshooting via Alarm Information from ASDA Soft and then quickly clear the alarm and resume tuning ALE Ox 1 Help Aam Alarm istory Encoder Error View Anma bai Show Alarm Alarm Reset Aarm name Alarm Content gt The pulse signal generated by the encoder is in error Checkif all wiring connections are conducted correctly by Correctly conduct the wiring the wiring information in the user manual Examine CN2 terminal of the servo drive and the encoder Install the motor again connector Examine the wiring between CN2 terminal of the servo Conduct the wiring again drive and the encoder connector of the servo motor and check if all connections are tight The operation of the motor is not normal Repair or replace the motor This section is divided into three parts Basic operation Introduce some basic operations Current alarm Describe the alarm information and content Alarm history Describe the definition of alarm history Basic Operation Open the window of Alarm Information when it is Sor UNE the following reminder will pop up It s Off Line now Please Set it On Line since it is Off line the software is unable to update the current alarm infor
149. Setting Step 1 Select the homing mode Setup P5 08 X X gt Homing Method ii Homing in i X 0 Homing in forward direction and regard PL as homing origin X 1 Homing in reverse direction and regard NL as homing origin X 2 Homing in forward direction ORGP OFF gt ON as homing origin X 3 Homing in reverse direction ORGP OFF gt ON as homing origin X 4 Look for Z in forwad direction and regard it as homing origin X 5 Look for Z in reverse direction and regard it as homing origin X 6 Homing in forward direction ORGP ON gt OFF as homing origin f X 7 Homing in reverse direction ORGP ON gt OFF as homing origin X 8 Directly define the current position as the origin Step 2 Setup the command when ORG signal is detected gt Signal Setting 0 Return to Z pulse 0 Return to Z 1 G0 forward to 7 pulse 2 Do not look for 7 pulse Step 3 Setup the command when the limit is reached gt Limit Setting 0 hows error 7 0 Shows error 7 1 Rotates backwards For example if Homing in forward direction DI ORG OFF ON as homing origin is set as the homing mode then set P5 04 X to 2 homing in forward direction DILORG OFF ON Y Signal setting 0 return to Z Z Limit setting 0 shows error July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide PL Signal ORG Signal a Users can complete the setting by following the parameter setting which men
150. Toolbar to operate scope Icon Description Click Run to capture data Click Stop to stop capturing Scope is not activated Status indicator of the scope when the light turns green it means the scope works normally when the light turns Scope is operating yellow it means the scope stops capturing data when the light turns red Scope stops operating it means something is wrong with the communication Communication error lt displays the current ASDA series servo drive that connects to ASDA Soft ASDA A2 AJR Scope lf the oscillograph is opened with a SCP scope curve file this drop down list will automatically switch to the saved model Users can write down notes in this column The note will represent the description of each curve When open the file next time this column will show the notes 3 Scope Screen X axis of the screen represents time Unit is second sec Y axis of the screen represents data Y axis on both sides will be allocated according to the channel users select Data unit displayed in Y axis is marked with the same coordinates when in initial status It is suitable for the monitor items which have the same unit If the monitor items have different unit it is suggested to use_ Show all data in the screen and adjust the max min value automatically introduced by Scope Toolbar to see the actual value E E 2t the bottom left corner of the screen is for change t
151. UUjrev Setting mea a Pm 565 4825654 O j 20 20 Ss Create Table Previous an eagle g 0 000 Download Tabie Burn Table Data Information Simulation w j Unit mm Slave Pulse 100000 PUU Master Pulse V 100000 puse sd Oe te ed te hehe il ome me sed hy Deke ot Ds OM ee Master Simulated Speed 100 pulse s 0 001 mm s Slave Information maf 54 coal ea ohana A Eh wkd sl cava mun ooh KS Z Positony PUU W Wispeed wir puus ms be el ea be WI eee Be be eee ie oe Be E Acceleration ACY a i oe ee eee eee eee Users need to know the mechanical specifications when creating rotary shear curve Users have to fill out the mechanical specifications into software then the E Cam curve can be created July 2014 4 45 ASDA Soft User Guide Chapter 4 Description of Motion Control Gear Box Tooth A to motor Tooth B to cutter Encoder pulse number per revolution Cutting aip dis Length L Pid Diameter d1 Step 2 Enter the mechanism value Motor PUU NO per rev 100000 PU rev mm 565 482 5654 817 speed Compensation O 20 20 Gear Rato A 1 gt B 1 Gear ratio Set it up according to the actual mechanical proportion Gear Box Tooth A s to motor Tooth 6 _ to cutter Cutter n
152. User Guide July 2014 Users have to learn the relation of each unit of length in advance L Circumference of printing cylinder Tt x d2 Pitch of materials PL BL R L equals to the cutting length in Rotary shear In printing application most cases are R gt 1 Take the initial parameter in software as the example L Circumference of printing cylinder m x 100 314 15 mm Pitch of materials PL BL 200 20 220 mm R L 314 15 220 1 428 R gt 1 reasonable range In addition L Circumference of printing cylinder has to be larger than Pitch of materials The purpose of intermittent motion is to save the use of space and reduce the cost Idling wastes the materials How we determine the width of synchronous area oa area PL The moving direction of Printing range me picauet deg_sync Degree of synchronous area PL L x 360 This formula can help to calculate the degree of synchronous area Take the initial parameter in software as the example deg_sync Degree of synchronous area PL Lx 360 200 314 15 x 360 229 190 Please note that the setting of Degree in waiting area and S curve cannot exceed 360 In addition if desire to stabilize the printing quality increase the range of synchronous area will do deg_sync Angle of synchronous area PL L x 360 SyncAdd increase the degree of synchronous area syncAdd increase the degree of synchrono
153. When the pulse number received by E Cam axis is the same as the Om setting value of p5 89 E Cam disengages If U 2 the position will be controlled precisely Set U to 6 can ensure the smooth speed If E Cam stops when disengaging then the disengaged command of 2 and 6 will be the same PUU Position Slave P5 88 U 2 The Servo will stop at this position i exactly when it disengages bilse Master The pulse number set in P5 89 for disengaging SUL When U 2 PUU Position Giv P5 88 U 6 The Servo will stop around this positio with smooth speed to stop baie Master E The pulse number set in P5 89 for disengaging mangigi gign gi When U 6 b When the pulse number sent by master axis is the same as the setting value of P5 89 E Cam disengages If U 4 it starts counting after E Cam disengaged When the pulse number sent by master axis is the same as the setting value of P5 92 E Cam will engage again and so on so forth July 2014 4 21 ASDA Soft User Guide Chapter 4 Description of Motion Control P5 88 U 4 PUU Position Slave b Pulse Master The pulse number p5 92for The pulse number set in P5 89 for resting setin P5 89for disengaging disengaging When the setting is complete click Download to download the Engaged condition into the servo drive As the previous description if it is not connecte
154. Wizard PR mode has to be programmed and designed in this function ASDA A2 servo drive provides a new built in internal control mode PR mode It not merely provides PR for users to execute single axis motion ASDA A2 even adopts the theory of distributed motion control framework to issue commands based on speed control position control PR jump and 4 84 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide DI Diversified combination allows flexible operation and enables ASDA A2 to stand in the leading position PR mode supports 63 paths in total Each one can individually program 5 different programming methods In addition Indexing Coordinate Wizard can be used to program PR as well ON i Constant speed control 2 Single positioning control Motor stops when positioning is complete 3 Auto positioning control Motor goes to the next path when positioning is complete 7 Jump to the specified path 8 Write the specified parameter to the specified path 0xA Index Position contral Please see the description of each method below E Constant Speed Control When this command is executing the motor accelerates or decelerates from current speed not always 0 Once it reaches the target speed the command is complete Then the motor does not stop and keeps operating at the same speed Users can program acceleration deceleration time delay time and target speed The delay time is defined by
155. _ a C seca Wee ee ae e I Example 2 12500 1000000 H L 1000000 Sowa i s ee i 1000000 288 E gear ratio of master axis changes the resolution of pulse command P5 83 can be used for adjustment when it is engaged When slave axis receives pulse number P from master axis which is defined by P5 84 the E Cam axis will rotate M cycle defined by P5 83 which is M cycle in E Cam table These two parameters are mainly used to define the resolution of pulse command from master axis Example 1 P5 84 10000 amp P5 83 1 When slave axis receives 10000 pulses from master axis the E Cam moves from 0 to 360 degrees which is one cycle in E Cam table P5 83 can be used to adjust the resolution even when E Cam is engaged The change takes effect immediately Example 2 value of P5 83 and P5 84 multiply 100 individually If P5 84 1000000 remains change the value of P5 83 from 100 to 80 the command resolution is higher That is to say the pulse command width is 80 of the Original one and it needs 12500 pulses from master axis to operate one cycle If P5 83 is changed to 125 the resolution is lower The pulse command width is 125 of the original one It only needs 8000 pulses to complete one cycle E Cam Users can setup S222 ESAM Curve Scaling anq P5 85 Engage Entry Offset here Following is the setting method of P5 19 4 15 ASDA Soft User Guide Chapter 4 Description of Motion Control E Cam Curve Scaling P5 19 T
156. a E ec miin EFF THEAT Enrererprr JUMENT CEF pTF IHIH Wat arier Getac WB case ware Para The bog 301 Cridet Title Horizontally Pa Eagan Maretee nn CC amara Pewter Jigess Scheel Hersir iia wa ange i Select al i pancel all a gt i Aptis eee ois abe Gres BPE per HNB IA IANI w 1 input puise number of pulse command after sector gear moo m sei jouse w esten error courts beteen contra command guie and Greckurck puter putt z Her onibai pie sunber belee sikerei gear tao d aet pube E Jiii p numba of pite command belone electrons gear rat i eet puh PpS Liim Feplaj ea e opened born 7 ADDA AT iawa ADDA AT benm Dets ASDA Soh a File Setting Tools Parsmeterfunction Window Help B osima EITE OSs Bere S860 Peremeter tditort ASON A2 Servoj RET ies Trope la p E tirn Momtor sm 3J S38 S QDO sm aao 10000 ag amaa Po xx pia eza esa pax esx Jale at eoaas Aaa AT oa anes Save arr m Select ae Peter feedbeck puise number after electrons gear ram i set puise KIO pune number of piae command after elecore Gear rato i set Poten error cours betwee const command pise ard feedback auto Met feedback nuse number before slectorse pear rato is set pulse Hira pire number of pdoe commans before electrons gew rate pet a a ered rpt command jen Terque rost command Vet 3 orgue ingt command st 1jam age load w At eak icad w nan rast v
157. a O OC S CO D a o Q O c o O Oo oH xo O Cc g o NO lt x a E 5 lt x Q ro 5 F z O 5 ASDA Soft User Guide Chapter 3 Advanced Operation When users are accessing values from more than one channels if desire to specify the range in one or all channel Fine Tuning on the right can be applied a Click Fine Tuning Condition Fine Tuning Properties Moving Offset Aii Zoom Multiple 120 Enable Fine Tuning of Single Axis CH3 Specify Display Range oe start ms end ms Max Min Aton Time Dy Ms ct Ps CHi oO 0 125 32767 32768 ae ee T CH2 OO 0 125 32767 32768 IcH1 0 0 125 32767 32768 CH3 0 0 125 32767 3276A cH2 0 0 125 32767 32788 CH3 0 0 125 32767 32768 CH4 0 0 125 32767 32766 oa 0 0 125 32767 32768 CS awe SS J b Setup the range of Start and End For instance set the displayed range as 10000 15000 for all channels spedfy Display Range start ms end ms Max Min CHi 10000 15000 32767 32768 CH2 10000 15000 32767 32768 cH3 10000 15000 32767 32768 CH4 10000 isogo 32767 32768 Click the screen will be adjusted to the setting range automatically 13500 000 14000 000 3 26 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Other Functions Application By the above mentioned four steps users can easily capture the waveform and complete the related settings Some other special
158. abled contacta contactb Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Y Digital Output DO Setup P2 18 P2 22 3 116 July 2014 Chapter 3 Advanced Operation There are 35 command selections of digital output drop down menu ASDA Soft User Guide Users could directly set it up via the 0x02 Servo On 0x03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x10 Output overload warning 0x11 Servo warning activated 0x 12 Position command overflow Users can set the digital output DO status as a contact frequently open or b contact frequently close Y Common Setup Rotaion Direction Selection P 1 01 Forward CCW Reverse CW Forwrd CW Reverse CCW Pulse Output Polarity SHOPE i 0 MON1 MON2 C 1 MON1 MON2 C 2 MON1 MON2 1 Encoder r Outpu it Pulse Number P 1 46 2500 SPulse rev 20 320000 Regenerative Resistor Setting P 1 52 P 1 53 751 Q 5 751 3001 w 0 3001 Output Polarity Monit
159. action testing A complete CMP setting should be with PR setting host controller and trigger switch Following is the main setting page of CMP fi Write CMP Data to Servo July 2014 Array Compare CMP Parameters PS 56 Start address of CMP data array 0 799 P5 57 Compare axle position 2 F5 58 Compare Amount 1 1 Create data array P5 59 Compare Enable Control P5 59 Compare Options drafter comparing the last point restart from the ist point P5 59 CBA Output pulse 3 after comparing the last point set P5 57 0 100 14095 P5 59 Y axis source OsCapture axis O 2 Pulse Command 1 Auxiliary encoder 0 3 Main encoder P5 59 Z Trigger logic 0 NO 1 NC P5 59 U Trigger PR command 12 it will trigger PR command 45 after after the last position is compared Ma sree k we Disab The left window displays the current list and value of each data array See as below 4 119 ASDA Soft User Guide Chapter 4 Description of Motion Control Download the latest data CMP Data Array array from servo drive Update fOS0 000 filam verre e Dsi Position of data __ _ _ 5g array 053 054 at ear i Value in data array 055 056 CMP amount number 057007 058 059 iiss ee bea a Title bar CMP value that is entered manually be During the test process users can click Update __ to update the value in data array if needed
160. actual acceleration deceleration time is shown as below Actual acceleration deceleration time setting value S curve smooth constant Setting value The acceleration time from 0 to 3000 rpm x JOG speed rpm 3000 rpm Actual Acc time ms 33 33 40 00 Actual Dec time ms 33 33 40 00 0 rpm acceleration to 3000 rpm ms 200 3000rpm deceleration to 0 rpmims 200 S curve Time ms 20 Jog Speed 200 Take the above figure as the example When the acceleration time and deceleration time is 200ms the setting value should be 200 ms x 200 rom 3000 rpm 13 33 ms The actual acceleration or deceleration time 13 33 ms 20 ms 33 33 ms Thus the actual acceleration and deceleration time is shorter than the max July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide allowable time which eligible for inertia estimation E When the setting is complete click to download the motor speed to the servo drive temporarily Note Click Download if the input value is not an integer or the actual acceleration deceleration time exceeds the max allowable time the following window will pop up and the data will not be downloaded into the servo Delta ASDA Soft x 2 00 is nota valid integer value Step 3 After the setting of motor speed is complete please start the servo Servo On Servo Off a Click perro On No Alarm ALO Alarm Reset then start the servo ASOT NESE lf an ala
161. al is detected users can set if Z pulse will be used as Origin point P5 04 X 2 Homing in forward direction DI ORG OFF ON as homing origin P5 04 X 3 Homing in reverse direction DI ORG OFF ON as homing origin P5 04 Y signal setup 0 return to Z 1 forward to Z 2 never find Z P5 04 Z limit setup 0 shows error 1 reverse direction July 2014 4 ASDA Soft User Guide Chapter 4 Description of Motion Control Limit Stop or Go back ORG Sensor OFF ON e x gt Go backward ume Go forward to to search Z g search Z Y 0 Return to Z Ae S1 Y 1 Ahead to Z Y 2 Do not search Z Z Pulse ee es re PL Signal es STU ORG Signal T C Look for Z in forward direction and regard it as homing origin Look for Z in reverse direction and regard it as homing origin This mode directly regards Z pulse as reference point There is one Z pulse when motor runs a cycle This method is applicable when the moving distance is within one motor run P5 04 X 4 Look for Z in forward direction and regard it as homing origin P5 04 X 5 Look for Z in reverse direction and regard it as homing origin P5 04 Z limit setup 0 shows error 1 reverse direction Limit I Stop or Go back Ea Go backward Go forward to to search Z search Z 4 78 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Do not care Y PL Signal a yo mE Homing in for
162. alysis tool Basic scientific theory and principle foundation is required Please refer to the related documentations lt is suggested to pay attention to the actual operation from time to time When adjusting the gain take the machinery limit into consideration This system detects the bandwidth only by the slightly move which is different from the actual operation It is better to leave some margin for the machinery to deal with the problem when facing the change of operation such as the change of load or the loosen belt caused by the long time operation system Analysis u m f Run Analysis Type 1 Speed Open Loop Rated Current 50 amp amp amp A Line B Line z S This section will be divided into two parts Interface Introduction Introduce the definition of each button and icon Operation Description Describe how to monitor time domain and the Bold Plot of frequency domain with the function of tuning July 2014 3 49 ASDA Soft User Guide Chapter 3 Advanced Operation Interface Introduction We divide the window into five parts 3 50 KEk sa ma Run Bal HEN ft EERS l RE BR so HUBS 1 86 Pi 37 SS P P2 00 141 PEt P2 02 0 pj P2 04 P2 23 1800 P2 24 Gas p P2 25 18 perg P2 26 900 mi P2 43 10007 at P2 44 00000 sll P2 45 1000 pert P2 46 0 aj 290 E To H g O r A B Line A Line B Line ibid i 1000 2000 1 Toolba
163. ance point at 664 Hz is about 3 4 dB Thus adjust Notch filter again July 2014 Chapter 3 Advanced Operation Step 5 Gain tuning for the third time Auto Gain Tuning Off line Computation las DA A2 z Rigid Holding 1 v Ratio of inertia 11 5 Bandwidth 1120 Hz Compute aera a Read Parameter P1 37 Load Inertia Ratio P2 00 Position Loop P gain P2 02 Position Feedforward P2 04 Speed Loop P gain P2 06 Speed Loop gain P2 25 OSC Reject filter P2 26 External Noise Reject P2 49 Speed Detection Filter and Jitter Su 0E 850 Bandwidth Hz max 1023 12 P2 47 0 Disable 4uto Resonance Suppression Mode v iv 1 2 P2 23 Notch filter Freg 1 1000 V Hz 50 1000 1000 P2 24 Notch filter Gain 1 O V dB 0 32 0 P2 43 Notch filter 697 4 697 2 32 lt I lt I lt I lt I lt I lt I lt I lt I lt I OE 850 v 120 P2 45 Notch filter Freq 7 P2 46 Notch filter Gain 3 ASDA Soft User Guide Enable Gain Control Panel Selecting Enable Gain Control Panel will temporarily change the operating mode to Pr Mode P1 01 001 and alter the following parameters P006 08 P1 15 18 P1 34 36 P2 10 17 P2 36 37 P306 P4 07 All parameter changes are temporary Closing the control panel and cycling power on the amplifier will restore the original parameter values Fill in the resonance frequency and decibel value dB to the third Notch filter
164. and Chatout Drect Spied and Tongue linet Sng p Puka Dsp Polart ering __ Analog Mair Cs Pragara Pnn i Dipit Proportern 2 ce Facel eel med Cartan of Acie Seed Cirera Loe eet P ea th Gatien of Aag Tongue Gomera Loe fa Plier Smooth Garten of Peabo femeand lowes Alber dat Seid Soar Leet fed Seed Cornmeal Linh Ord Speed Command Lint ist Taraue Comeau Lit ang Tor quar Commu Limit Sed Torque Command Limit CAPTURE Seno AMIS Thresh of Correction iesirea ane Can ules Phate Compenevtcn Tine Seting CAPT UGE COMPARE Akiona Functor elira CAPT Palkia Aarne See rs Bechara Gon Flan Pole haa Comperiabon Hi Segue PH Speke Alter Setar Camper i dala of feed Wek of Pe ene eee unchanged DORMIRE Compare data a heH Aulnay sol Pi to 0 Fub upra Frequency l ge Reed oriy j AB ats Atte eent BB vous Proves Fhe parameter dusted bry Thom im 1751 Mow Dounlesihik the Walie car be call cut the Peart Saiti hiig See the above figure click at this pane the parameter value can be edited Double left click this pane Parameter Setting Helper will pop up lt is for setting parameter as well July 2014 3 79 ASDA Soft User Guide Chapter 3 Advanced Operation f The 9 row of the main screen means the newly modified parameter that hasn t been downloaded into the servo drive If the user modifies a parameter s value without pressing Ss enter the 9th row will
165. apter 4 Description of Motion Control ASDA Soft User Guide P5 07 1 P5 07 1 July 2014 Case 4 Position 3 Jump Write Position 3 Write g4 D 10 S 20 0 rpm DLY 0 DLY 0 D 0 S 100 0 rpm DLY 0 ee 2Z00000PUU IN PR 10 P5 55 10 300000PUU INC P5 55 12 PR 1 1ms group PR 2 PR 10 PR 11 PR 12 1ms group PR 1 will occupy PR Executor and Motion Command Generator for 10 ms since the delay is set in PR 1 After 10ms PR 2 and PR 12 will be read in at one time This is because command of PR 1 is already accepted by the system The later command can only be combined not replaced Thus PR 11 will combine with PR 1 The combined rules will follow the rules that introduced before Case 5 pp Position 3 PR PA D 0 S 20 0 rpm gt i _ _ 200000PUU IN Position 3 D 0 S 100 0 rpm 300000PUU INC PR 1 PR 2 PR 10 1ms group PR 11 PR 12 1ms group Since PR 10 has delay command PR 1 to PR 10 will be read in at one time PR 2 and PR 10 are non motion control command When using PR Executor PR 1 occupies motion command generator all the time during this period When the delay time 5000 ms is reached PR 11 and PR 12 will be read in at one time lf the execution of PR 1 is complete PR 11 will be executed alone If PR 11 is not finished yet PR 11 will combine with PR 1 To monitor PR procedure via P5 07 from P
166. arameter of current feedback position monitor parameter into the specify parameter Check this function 58t the interval between twa paths and users can select where to insert the PR Please note that the inserting path number will be set according to the interval set by the user at every section Assume the interval between two paths is 2 Start of PR Path 40 2 V set the interval between two paths Knife numbers Path Size 5 P2 52 Indexing Coordinates Scale PUL 100000 PR path programming on the left starting from PR 40 will be programmed one index point every two paths PR 40 T10 d PR 41 T 0 PR 42 T 0 PR 43 T10 d PR 44 T 0 PR 45 T 0 PR 46 Tio d PR 47 T 0 PR 48 T 0 FR 49 Tio d PR 50 T 0 PR 51 T 0 reese Tio d July 2014 4 99 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 100 Step 2 Setup related parameters such as indexing scale rotating direction acceleration deceleration time and target speed INS Interrupt the previous path 0 NO 1 YES OVLP Itis allowed to overlap the next PR When overlapping please set DLY to 0 o Nno 1 YES DIR Moving Direction 0 Always move forward forward rotation H LiAlways move reverse reverse rotation ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 5 20 H 2 The shortest distance DEC Time Index of decelerating from rated speed 3000rpm coo 200 P5 20 S LOW speed unit SPD T
167. arget position which is the moving distance of PR The moving distance can be planned by users Please note that the parameter format of position command Is 32 bit e g P6 03 Thus the allowable setting range of DATA is between 2 2147483648 and 2 1 2147483647 Position CMD DATA PUL w 2147483648 2147483647 E Jump to the specified PR Jump mode is designed for special application which can be used to call any PR a Switch PR procedures so the PR can be executed without order b The function is similar to sub program c Form a loop of PR procedures Jump Jump to any PR 4 92 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide The following is the main setting window TYPE settings 7 Jump to the specified path x OPT options INS When this PR is executing it interrupts the previous one ONO P Speed Time Setting DLY Delay time index DLYOO 0 P5 40 x Data PR Jump to the specified PR Number PR 00 v OPT options Users can select PR Interrupt from OPT options INS When this PR is executing itinterrupts the previous one o NO 1 ES Speed Time Setting h jump command to setup delay time means users need to proceed PR jump after a period of time The command will jump to the next specified PR after delay time BLY Delay time index DLyoo 0 P5 40 Data In jump command this represents the PR that users spe
168. arget speed index POVOD 20 0 P5 6 0 0 1 r min O1 0 0ir min DLY Delay time index DuYoo 0 P5 40 INS When this PR is executing it interrupts the previous PR Please refer to constant speed control for further information INS Interrupt the previous path 0 NO 1 7 OVLP Overlap the next PR When overlapped disable DLY Please refer to single positioning control for further information OVLP Itis allowed to overlap the next PR When overlapping please set DLY to 0 0 NO 1 YES DIR Moving direction When setting up the moving direction of index point different application requires different path forward reverse or shortest distance For example for tool magazine in machining application users need to setup the shortest distance so as to rapidly change tools in different situation Please note that the shortest distance is determined by the current and target position There is nothing to do with moving in forward or reverse direction DIR Moving Direction O Always move forward forward rotation L Always move reverse reverse rotation 2 The shortest distance S LOW Select the unit of low speed 0 means the speed unit is 0 1r min 1 means the speed unit is 0 01r min In index position control low speed operation is needed For stable the operation this function enables users to set the unit to the second decimal place so as to control the variation of motor speed in hundredth u
169. ata array into the servo drive Users can also click Sunt 2PROM to burn data into EEPROM To access the data array from servo drive click _Load From Servo to upload it to the software Example From the example below users can try to setup CMP function via the software and aim at the application of masking and mark reading to complete the setting of mark alignment Please refer to ASDA A2 application note for further information July 2014 4 133 ASDA Soft User Guide Chapter 4 Description of Motion Control Example of CMP function It sends one signal every half turns Data Array ISL A AL a DOA DOA P5 56 50 mp 50 i P5 58 2 52 PR Write PR Write PR Write PR Speed 30 DLY 1 ms 31 DLY 0 32 DLY 0 33 DLY 0 I P5 59 0x0064000A I P5 68 2 I P5 59 0x0064003B I 200 0rpm 100ms T H DO4 P5 59 0x0064000A P5 59 0x0064003B 0 gt reset P5 57 to current main encoder position P1 46 25000 because P5 57 will count the position according to P1 46 3 0OxA 1010 P5 57 0 when complete 0 Repeating mode Stop 0xB 1011 P5 57 0 when complete 0 Repeating mode Start Description 1 When the compare axis is the main encoder the Compare function will refer to the pulse resolution set by P1 46 but not P1 44 and P1 45 It must set P1 46 25000 pulses in this example which means when motor runs a cycle P5 57 can read 250
170. atus of CMP DO4 1 Monitor parameters From monitor variable 40 users can know the real hardware output status of DO Each Bit corresponds to one DO channel P0O 09 Read P0 17 40d 2 Mapping parameters From system parameter P4 09 users can monitor the contact status of digital output P0 35 0x0409 P0 25 Read 3 Physical wiring Access DO4 via physical wiring There is no need to specify the function of digital output When CMP function is enabled DO4 will be the output of CMP function regardless the setting of It Vil D04 Physical wiring July 2014 4 125 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 126 4 Software Read the output signal from digital IO panel A of ASDA Soft There is no need to specify the function of digital output The CMP function will occupy DO4 Digital Output DO Enable DO Control Status Enable DO1 0x01 Servo ready Onor DO2 0x03 At Zero speed Jon off DO3 0x09 Homing completed Jon of DO4 0x00 Disabled Jon off DOS 0x07 Servo alarm Servo fault activated B lon off Users can choose one of the methods to monitor CMP DO4 When ON LINE operation is enabled the setting page will be locked by software so as to avoid any occurrence of error during testing procedure Compare CMP Parameters 7 P5 56 Compare Arrary start address 50 O 799 P5 57 Compare a
171. be x 157 5 7 112 5 180 5 135 7 lts calculating method is Start point 5 Start value 5 Interval value 2 The next point after 5 is 7 then the value 5 1 1 7 point 7 Similarly position 9 7 1 1 9 m General calculation x When desire to combine forward and reverse curve function of x can help For example Quick Input Editor From 5 To 10 Descend Copy 0 Exchange Interval points 1 setup the position of E Cam point 5 to 10 Each point plus 5 and the interval value is 1 135 12 157 5 13 180 14 snnannnnnnnnnnannnnsnnnannnd 12 13 14 15 16 17 July 2014 4 9 ASDA Soft User Guide Chapter 4 Description of Motion Control E Copy Users can copy the position point from one E Cam curve to another E Cam curve For example Quick Input Editor From 5 To 10 _ Ascend Descend i Oy Copy 3 Exchange The Start Point of Destination 1 Copy the value from 5 to 10 to the target position starting from 1 m Exchange Users can swap one position from an E Cam curve to with another one For example Quick Input Editor From 10 To 15 Ascend Descend i Di O Copy Exchange The Start Point of Destination 1 swap the value from position 10 to 15 with the one from 1 to 6 by the above setting Ce FE E gt SF 6 247 5 270 292 5 315 337 5 4 5 6 7 17 Exchange the value of E Cam curve It is su
172. ber of motor encoder Step 2 In Common Setup please set the P1 46 pulse number of motor encoder to 25 000 Common Setup Rotation Direction Selection P 1 01 Pulse Number of Encoder Output P 1 46 Forward CCW Reverse CW O Porwrd CW Reverse CCW 25000 Pulsejrev 20 320000 Polarity Setting of Encoder Pulse Qutput P 1 03 Wie eee te X Monitor analog output polarity ae een E eons eres Direction Polarity 0 MONA 4 MON2 4 Regenerative R 7 ee 52 P1 Forward Output i i ET MONi 4 MON2 40 2 S750 _ Reverse Output 2 MON1 MON2 3001 W 0 6000 O 3 MON 1 MON2 Step 3 Write the setting value into the servo drive il A message window will pop Please click sist Delta ASDA Soft eo eA servo Step 4 Re power on the servo drive and complete the setting of mode and parameters Step 5 Click b for PR mode setting so as to setup 4 sets of PR path Please select position PR 30 in the left July 2014 4 135 ASDA Soft User Guide PR SL PR S2 PR S3 PR S4 PR 35 T 0 T 0 T 0 T 0 T 0 Chapter 4 Description of Motion Control gt Select PR 30 in the left Step 6 Setup PR 30 31 32 and 33 in sequence PR 30 Set P5 59 to 0x00 64 000A 64 Length of output pulse 100ms Convert the format to hexadecimal so the value is 64l 0 Set the source axis as CAP axis A Set Bit1 and Bit 3 of P5 59 X to 1 The CMP function will repeat E
173. ber relative to encoder Z phase Followings are the description of Monitor Items Icon Description a After pressing Run the light will turn to color green Aspaa25e v0 from color yellow And the button display will be switched to Stop Users can simply press Stop aspaazsera when desiring to stop status monitor Then the light will be switched back to color yellow Monitor Items will be displayed in the table according to different series of servo drive The above figure is the example of ASDA A2 which has19 monitor items in total lf the selected monitor command is displayed in hexadecimal format users can select the format from the drop down list which is in the right side of the window Status Monitor Decimal DEC When users switch the window to Select Monitor Items users can manually setup different monitor items according to your demand Please refer to the detailed 2 8 July 2014 Chapter 2 Basic Operation ASDA Soft User Guide iz a 14 Main drait voltage Volt description below Description Users can self select the monitor items Three items can be setup Monitor Item Setting gt Users can select the monitor items which provided by each series of ASDA servo drive Mapping Parameters Setting gt Users can flexibly setup the required parameters through mapping parameters provided by ASDA A2 series servo drive It enables users to edit a group of continuou
174. between 0 and 1999 Data array is a memory block which can store position data It is used to store E Cam point here lf users had already created the E Cam in servo drive users can use the function below to download the data array from the drive and manually modify it Laod From Data Array Load Data From CAP Array to Table C Specify Array Address Start Address 20 Area Size 20 a oad Data From CAP Array to Table Use the data from CAP Data Array as the one for E Cam curve For example setup the start address in data array P5 36 and the capturing amount P5 38 The start address of E Cam curve is the address specified by P5 36 The setting of P5 38 refers to the area size Click s _ to directly download the data into the table o Spedfy Array Address Start Address 20 Area Size 20 Users also can specify the start address of data array and area size Click Fy 0k to directly download the data into the table July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Step 6 If users need the data as non volatile data when the power is off click Download Table Burn Table data will do __ Download Table Download table data into EEPROM When the power is off the data will be volatile PBumtableData Burn table data into EEPROM Step 7 Click to enter the screen of Parameter setup eM Awa ea P5 85 Engage Entry Offset P5 86 Postion of Mast
175. ccurs it is probably because the stiffness of the control system is too strong or the resonance is too fast Eliminating these two factors might improve the situation If both have been checked and still cannot suppress the resonance this function of FFT display can fetch the waveform during operation so that users can analysis the resonance point Followings are the operation description 3 28 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 1 When desire to fetch the waveform please set one of the channel as motor current Then operate the mechanism and activate the scope for monitoring Stop the scope and motor once the resonance occurs value ser Wo EDs Norm T 32bit i ED Norme 2 5 T EHaD Norme h o a IDX Mome oo Bein RE eS E E ET ee e ee a e i a Le E EE EE EE T Step 2 Check FFT Display then use left mouse button to border select the range of resonance Gal y RAFERTE MERERTE BATE FERIERE O RARER E WEEE ERSA REREH A 2000 a a nee Bakes a a Gade anaes aes Bay D s V Series ASNFFT Reet AAR SA RMS i i j i j i E 0 000 1999 983 3999 975 5999 963 7999 950 9999 938 11999 925 13999 913 15999 900 17999 8388 19999 5875 sec July 2014 3 29 ASDA Soft User Guide Chapter 3 Advanced Operation 3 30 Step 3 Release the left mouse button a FFT window will pop up automatically FFT 8192 Pts fx Axis Y represents the streng
176. ce to disable DI function which means the setting will be P2 16 0x0100 automatically Since the value is not written into EEPROM P2 16 will return to the default value after re power on 4 104 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Trigger method Edge trigger can select contact A B It is capable to continuously capture more than one point It can set the trigger interval The interval between this trigger and the next one Data storage Data array The start address is set by P5 36 position Capture number _ Itis set via P5 38 and will not exceed the limit of data array Capture format 32 bit It has positive and negative Auxiliary selection After capturing the first data the CAP axis coordinate system will be set to the value the same as P5 76 After capturing the first data the COMPARE function is enabled automatically After capturing all points PR procedure 50 is triggered automatically DNS The default value is OFF After capturing the last point this DO is ON Set P5 39 X0 to 1 so as to activate CAPTURE function and this DO is OFF Note a a If P5 38 0 set the value of P5 39 X BitO to 1 will disable the CAPTURE function Clear the setting value of P5 39 X Bito to 0 and set DO CAP_OK to OFF Since the capture axis is 32 bit wide the accumulation will cause overflow Please avoid this July 2014 4 105 ASDA Soft User Guide Chapter 4 Des
177. ced Operation 10 Ey Screen second switch adjust the resolution The standard range is between Oms and 20 000ms Users could use et to enhance the resolution of time axis The setting range is 1 6 and the maximum value can be set up to 120 000ms f Scope Time Factor ese Total Time Factor Max Display Total Time Factor 20000 ms Please Input Integer Scope Time Factor guy mmm mm Please Input Integer Scope Time Factor To coe For example if n 6 then when the setting is complete and press ox the following time frame within the red frame will become 120 000 000 sec 2621450 pote ice ie ga lg ee ora oe era eg pe 2a i eS ee ie ie os cece oo serc I I I I I I I I 26214 50 a Esme Pa ns yagi eh Eg in aa Nr ea aa a Alea I I I I I I I I l 32768 00 EE a a a a a a a a a i 0 000 84000000 fzer OO When n 6 the maximum setting will become 120 000 000 sec When n is set to 5 6 since the data amount is more Time axis is bigger the moving speed of the image will become slower if users click rF Ml WARNING LUA Zoom in or zoom out show all data in the screen and etc there is no need to worry 11 7 Description Users can quickly open the description file and know more about the operation and setting of the scope 2 Scope Toolbar Run tooo ASDA A2 A2R Scope 3 8 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Users could use Scope
178. chain conveyor should follow the speed of film feeding axis Please see as below Wrapping Film Reading ie T Sensor Sealing Cutter Slave amp Chain Conveyor Slave Synchronous axis has the function of mark tracking in packing machine When the cutting is inaccurate the system will correct the cutting timing so as to adjust the cutting length and position In this application packing film is the master axis The cutter and chain conveyor are the slave axes which operate by following the speed of master axis When the mark sensor detects the deviation between marks and the setting distance the cutter and chain conveyor will adjust the speed This manual only provides detailed description of creating the table of rotary shear Please refer to the user manual of ASDA A2 for further information about the whole application Step 1 Click et to open the page of mechanism parameter setting ARSE ea i Rotary Shear W O Ty sketch Table Sealing Zone P5 81 Start position of Data Array 100 Step 2 P5 82 E CAM Area Number 6 Rotary Shear W O _ O cad P5 83 E CAM Cyde Number M 1 Sealing Zone 599 995 mm circum 1884 939 mm P5 84 Pulse number of master axis P 3600 Pulse number of master axis P corresponds to E CAM table M cyde Encoder Diameter d2 250 mm droum 785 398 mm T i 2 3 4 5 10000 pulse rev 7 P5 84 manually Input a m z E Motor PUU NO per rev 100000 P
179. chapter of this manual July 2014 ASDA Soft User Manual This page is intentionally left blank July 2014 Table of Contents Chapter 1 Environment and Software Installation ccccssseesseseeseeseeseeneeseaes 1 1 Ld Sonwa INS LallATION sree E 1 4 t2 WINING COMTIO WAU OW sect ce decede rete dosi dened antdesidacsdneidesawidantdaeidaesdaeidenideeddectdnss 1 11 1 3 Software Screen Descrip Nseesasisrina i 1 13 Chapter 2 Basic Operation cccccssscccssseecssseecesseseesseeeenseeeenseseseeseensesensessonsessoaes 2 1 2 1 TFN racer ate aetna ial al eed eld tin ites aio EE achat eso ee 2 2 2e 11 RRR nee ee Oe eee ee ee ee ee N ere 2 3 2o NSAI WAC aa cenoteiersie nies elieutiednaa taedcaetaadnateedeia das 2 7 24 Olats MONIO eeren AN AN 2 8 RS ANNON ea tans eaten ee eren ter etn tenia nretn oom ate Oreo rent ee pee ee 2 12 2S Sa HeD 2 14 Chapter 3 Advanced Operation vvccccccisccsecctesscwcntesncesetacnssnsteascvestvecesneseessenetieereeetestecns 3 1 Beds OCODE aA A AA aaa 3 2 Interface INTFOCUCTION ccccceeecceseeceeeecneeceueeceueeceucessusecsueessueecusesueesaees 3 3 OOO CATO Ml tedescarcase teresa E E E E E 3 18 SpectrumAnalysis FFT cen cteedaeceeteedsaseateotansacedanca enen annua ennan Aaaa UNa aN 3 28 32 AUG Galt TUNNO se E E E E 3 33 WATE MAGS IMMOGUCTION erien A 3 34 DietYelglejifolame al US loliale meee mere ere a teeter ere emer err ter merre er ener er er area rere 3 39 39 Didita
180. cify to jump to PR Jump to the specified PR Number PR 01 PR 02 PR 03 PR 04 PR 05 PR 06 PR 07 m Write specify parameters into specified PR This function can be used to change any parameter that written into the servo drive As long as the parameter is changeable it can be changed by PR Base on this more methods are provided to change parameters such as call PR via DI Write P5 75 100 Set P5 75 to 100 in PR July 2014 4 93 ASDA Soft User Guide Chapter 4 Description of Motion Control The following is the main setting window TYPE settings 8 Write the specified parameter to the specified path X X OPT options 7 o INS When this PR is executing it interrupts the previous one 0 NO 1 YES AUTO Auto move to next PR when completed 0 NO 1 YES ROM write into EEPROM when writing a parameter 0 NO 1 YES PAR DLY Setup Target 0 Parameter y PO v 0 v Firmware Version Read only Parameter DLY Delay time index DLYOO 0 P5 40 m Data Data 0 Constant o 2 1 744 1 744 OPT options 3 parameters are provided for users here INS When this PR is executing it interrupts the previous PR which is the same as jump command INS When this PR is executing it interrupts the previous one O NO 0 LES AUTO Automatically move to next PR when this PR is complete AUTO Auto move to next PR when completed ono 5 YES ROM 0 means not to writ
181. cluding Acceleration deceleration area S Curve and Stop area should be manually setup For a smooth operation each part of the curve should be equally arranged The aim of S curve is to smooth the operation during speed variation The S curve is set by scale and it s setting range is from 1 to 4 while the others are set up by angle July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide 360 2W 2Acc 29 Y 24S 360 P5 82 P5 82 72 s 1i 2 3 4 iW Acc Acc S TW 10 20 40 80 360 _____ Users have to setup three parameters when using software to setup speed allocation of E Cam curve Acc Acceleration area Y Synchronous area and S S Curve Sketch Sections Table P5 82 EACAM Area Number 72 SL Waitng S amp A So syns SDE S4 Waiting 5 Curve Acc area Synchronous area S curve See the above graph as example 2x55 waiting area 2x60 Acceleration area 30 Synchronous area 100 S curve 360 Please note that P5 82 E Cam area number S curve and waiting area are all related S S curve 2 S x 360 P5 82 S1 waiting area 180 3607 P5 82 3607 R P5 94 2 P5 93 H Hex P5 93 L Hex P5 93 16 bits S level 1 4 16 bits W 0 170 P5 94 32 bits Y Synchronous Area 0 330 Decimal Pay attention to the limit of curve creation This is for avoiding the unreasonable rotary shea
182. cription is about the E Cam setting of filling axis Speed Fitting Creation and Manually create a table are required here to combine two sections of curves forward and reverse Step 1 See as below Curve for filling axis needs to go with P1 01 Z Motor operates at forward direction 4 27 ASDA Soft User Guide Chapter 4 Description of Motion Control Pitch 10 mm 40 mm 10mm 4 turns 4 100000 400000 PUU Distance 40 mm P1 01 Z P1 01 Z Tt Upward is downward positive is positive co aoe Te 4 Distance Position Distance Position 40 mm Curve 40 mm a f Before setting up forward and reverse curve it is important to know that P5 18 Axis Position Pulse Command CN1 P5 86 E CAM Master Axis Position When both pulse counts and feedback pulse counts increase at forward direction the motor is defined to run at forward direction e Po Positiv Positive E Cam Position a tr i Direction PC Scope Command Curve ete Definition P1 01 7 0 Feedback a In P5 18 number is Q A increasing Time In P5 86 number is s prer ip 01 Feedback Pail Time Step 2 Users need to create E Cam c curve O The function of simultaneously creating forward and reverse curve is not supported However users can create the curve individually and then combine them afterwards Segment the curve which runs at the same direction into one section For instance the Stop area between forward
183. cription of Motion Control Diagram of CAP The 1 axis position can be reset to the value as P5 76 4 Enable COMPARE function Data Array The 1 point is saved in P5 36 POS 1 POS 2 POS 3 The 2 point is saved_in P5 36 1 The 3 point is saved_in_P5 36 2 CAP axis P5 37 N A i l l l l l CAP signal M M M E DI7 i N i The CAP number is set via P5 38 DO CAP_OK L P5 39 X0 0 when CAP is complete Call PR 50 when all in P5 38 captured completed P5 39 X0 1 to enable the next CAP and switch off DO gt 4 The concept of COMPARE is to compare the instant position of motion axis with the value which is saved in data array Then output DO4 after the COMPARE condition is established for motion control Since COMPARE is finished by hardware there is no problem of software delay It also can accurately compare the high speed motion axis The COMPARE features provided by ASDA A2 servo drive is as follows COMPARE Features Pulse Source Main Encoder of the Motor Auxiliary Encoder linear scale Pulse Command CAP Axis set by CAPTURE When selecting this axis CAP source cannot be changed The selected axis is displayed in P5 57 Before compare the default value can be written in Output Signal Output by DO4 and the response time is 5 usec Note DO4 directly connects to COMPARE hardware thus regardless the setting value of P2 21 DO Code the function can w
184. d DI4 0x00 Disabled DIS 0x00 Disabled DIS 0x00 Disabled DI6 0x00 Disabled DI6 0x00 Disabled DI7 0x00 Disabled DI7 0x00 Disabled DI8 0x00 Disabled DI9 0x00 Disabled DI10 0x00 Disabled DI8 0x00 Disabled DI9 0x00 Disabled DI10 0x00 Disabled DI11 0x00 Disabled oS eo DI12 0x00 Disabled bled DI13 0x00 Disabled a D114 0x00 Disabled Digital Output D0 Digital Output D0 Enable DO Control Enable DO Control DO1 0x00 Disabled DO2 0x00 Disabled DO2 0x00 Disabled DO3 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DO4 0x00 Disabled z DOS5 0x00 Disabled __DOS 0x00 Disabled y The initial view will switch to the setting view When switching to the setting view users can start to setup DI O 0x00 Disabled 0x0 1fServe On Click any one of DI or DO and setup DI O from the drop down menu Use A B contact which is on the right to setup _oK frequently open or frequently close contact Then click OK to complete the setting July 2014 3 45 ASDA Soft User Guide Chapter 3 Advanced Operation When all DI O setting is complete click p again to return to the operation view m _Reflash_ Click this if users desire to reset all communication control setting of DI digital input he wo ia Iw o Iw mjs c mj E lf users desire to close all DI status TUTUT EEEE LU Glick __Ref
185. d Compensation 0 2 20 20 oe CCUTTER CalcuateCutterTable If Failed Cut length is out of range 565 4817 5654 817 Information Simulation Please pay special attention to the curve limit set by the software It is for avoiding the unreasonable rotary shear curve For instance if cutting length A is much shorter than the moving distance a of slave axis when cutting it will be unable to increase the speed of slave axis to satisfy the demand of short cutting length If the value of R is too small it might need to modify the mechanism to conquer the problem OLC t A Cutting length a The moving distance of TUR slave axis when cutting R length ratio A a W O sealing zone R 0 3 3 W T sealing zone R 0 07 2 5 macro 6 Adjustable sealing zone 1 88 gt R x speed macro 7 j compensation Speed compensation In some applications if the speed of master axis and slave axis cannot be the same when cutting users can change the relative speed between master and slave axis via speed compensation parameter When the compensation value is positive the speed of slave axis will be faster than master axis in waiting area If the value is negative than the speed of slave axis will be slower than the master July 2014 4 49 ASDA Soft User Guide Chapter 4 Description of Motion Control 210 240 270 300 330 120 150 207 150 180 2loFe dor FOP 300 a0 Step 3 When
186. d P2 35 384000 10 Pulse 1 128000000 Electric Gear Numerator Setting P 1 44 P 1 45 EEEE EEEE E Input pulse filter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed 128 1 536870911 C 1 416Kpps Low Speed 416Kpps High Speed Gearl 12 80 a Low Speed 208Kpps High Speed fo 1 2147483647 C 3 104Kpps Low Speed 104Kpps High Speed Source of pulse command Gear2 a asss 0 Open collector for low speed pulse 4 Line driver for high speed pulse 128 1 536870911 Gear3 _ 12 80 10 Pulse Command Filter P 1 08 C Yes bo Unit 10ms F p 7 l 0 1000 i Gear4 _ sete NO 10 DIn must Select GNUMO 1 EBREEREEEEEEEEEEEEEEEEEEEEEEEEEEEEREEEREEEEeEEeEEeREeEeEeee ee ParaThd Msg 201 Cmd 0 J Step 8 Since b PR mode setting is a specific function in ASDA Soft click the function block below a reminder will pop up and ask users to click b for PR mode setting Internal Speed Torque The prompting message in main screen setup the PR Mode in PR Mode Setup b o If Catei Made n Caga Mat feteet Orne ip fume Sewe Please setup the PR Mode Parameters in PR Mode Setup form eee is changed Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup form July 2014 BY ASDA Soft User Guide Chapter 3 Adva
187. d control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A S T Speed control mode Torque control mode 3 129 ASDA Soft User Guide Chapter 3 Advanced Operation Step 2 Select position control mode speed control mode the setting block on the left will show as below Position Mode Setup Speed Mode Setup Internal Speed Torque step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 There are 43 command selections of digital input Users could directly set it up via the drop down menu 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit 0x12 Position command selection 1 64 Biti m Users can set the digital input DI status as a contact frequently open or b contact frequently close 3 130 July 2014 Chapter 3 Advanced Operation Step 4 Setup External Digital Input EDI command ASDA Soft User Guide External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Ou
188. d parameter number Please note that the data format and data size of two parameters should be the same Make sure the correctness of the position before the parameter is written in Data 1 Parameter P2 l6 Digital Input Terminal 7 DI7 2 Data Array Users can write a value from one data array into another parameter by setting up the position of data array Please note that the data format and data size of two parameters should be the same Make sure the correctness of the position before the parameter is written in Data 2 Data Array 50 Position of Dara Array m 3 Monitor Variable Users can write the current status of one variable into another parameter by setting up the monitoring item In general application it might need to monitor motor speed or position error Users can write the status into the specify parameter group for monitoring or alteration via this function Data 3 Monitor Variable 5 Error pulse number after the scaling of e gear ratioj pulse OMME Writing parameters via PR usually enables disables or adjusts one function e g adjust P2 00 Position Loop Gain according to different positioning command This procedure will go over and over again during operation If all parameter is written into EEPROM it might shorten the life of EEPROM Thus it is suggested to setup parameters that do not need to be written in continuously Then set P2 30 to 5 The alternation of parameters from panel
189. d to the master axis users can select the time axis 1ms as master axis to drive slave axis so as to simulate E Cam operation Click ik Enable E cam Then make sure the drive is Servo On so as to trail run the E Cam Speed Fitting Creation Although this method is called Speed Fitting Creation the actual data in E Cam table is the one of position curve As long as the moving distance is the same during the same unit of time both axes have the same speed When speed application is a vital issue to consider Speed Fitting Creation can be use to create E Cam curve e To arrange the proportion of waiting area acceleration area constant speed area deceleration area and stop area in one cycle of E Cam curve e Destination is the distance the slave axis travels e The point number of S curve is the same as the point number in stop area The larger amount of S curve number the more smooth variation during acceleration and deceleration of the motor e The system can calculate the traveling distance of master axis base on slave axis SO as to make the same operation speed Or calculate the traveling distance of slave axis base on master axis Or users can directly calculate the traveling distance of master axis and the destination of slave axis separately without aligning the slave speed with the master speed e Take the filling machine as the example for further explanation Please see as below 4 22 July 2014 Chapter 4 Description of
190. data array for Capture and Compare are the same The range of data array for Capture and Compare are overlapped gt Position of Capture axis It displays the position of CAP source which can be auxiliary encoder linear scale pulse command and main encoder motor encoder P5 37 Capture axle position 1 Value in this part is related to the setting of 773 Y axssource Different axis source brings different value Please note that this setting is enabled when function of CAPTURE is disabled Please refer to P5 39 If the axis source is main encoder this parameter is prohibited to write in and its content will be motor feedback position monitor variable OOh July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide gt Capture amount It is used to set the captured amount When the setting is done window in the left will display all data array according to the setting For example if it is set to 10 P5 38 Capture Amount 10 window in the left will be poopoo Fi OOOUOO000 gooogooo0o 106 Joo6 OOOooo000 HOUOOOOOOO OOOO00000 ect 000000000 gt Capture control ioe Please refer to Section of Parameter setting and operation testing procedure that mentioned above for this part Some other reminders are as follows P5 39 Capture Enable Control P5 39 X Capture Options 2 while capturing the ist point set CAP axisasP5 76 0 2 while capturing the ist point enable CMP function
191. de Icon Description Sgh lt displays USB port number that connects ASDA Soft and ASDA COMS CP2102 USB to UART Bridge Controller servo drive 7 COMS CP2102 USE to UART Bridge Controller The left fi gure shows that COM5 is the current USB port number Bana ell COMS CP2102 USE to UART Bridge Controller Silicon Labs CP210 USB to UART Bridge COMS This button is for detecting USB port LAS When software communication is a successfully connected the left icon will pop up and automatically display the USB port number in drop down function list Auto Detect No devices found When it is failed to auto detect the software communication it will show No device found Click M Manal setting to complete the setting of communication position of ASDA servo drive manually Select Port Connector on the right up corner enables users to select CN3 Jor CN4 as communication ort Fort Number come p station 127 CN4 USB software communication port is for connecting fr ASDA Soft and ASDA servo drive i Through Manual Setting users can adjust the station number and confirm the port number of PC end see the left figure July 2014 2 5 ASDA Soft User Guide ASDA Soft Setting COM Port Language C On Line Off Line Select Device ASDA A2 Auto Detect v Manual Setting PdCoMi x Station 127 v X cance vok one Chapter 2 Basic Operation
192. display TFLT 1000 0 Smooth Constant of Analog Torqui PFLT D 1000 0 Smooth Constant of Position Comn SP1 60000 60000 1000 ist Speed Command Limit SP 2 60000 60000 2000 2nd Speed Command Limit SP3 60000 60000 3000 3rd Speed Command Limit see the example above if the user change the value of P1 09 from 1000 to 1005 without pressing the Enter Key will show next to the value g The 10 row shows the unit of parameter vio code value funit in Max Default Description 0 A PTT 00 P1 0x100 0x00 0x1142 0x0002 External Pulse Input Type x P1 01 CTL 0x0000 0x111F 0x0000 Control Mode and Output C luni t P1 02 PSTL 0x0000 0x0011 0x0000 Speed and Torque Limit Set P1 03 AOUT 0x0000 0x0013 0x0000 Pulse Output Polarity Settir P1 04 MON1 moo Ja Tree 100 100 Analog Monitor Output Prop P1 05 MON2 10 o 0 100 w Analog Monitor Output Prop P1 06 SFLT oo o Jm 0 1000 0 SS RBtel ABece Smooth Const P1 07 TFLT oo m o 1000 0 Smooth Constant of Anac am ee P1 08 PFLT lo ms 0 1000 0 Smooth Constant of Positio P1 09 SP1 1005 O ir min 60000 60000 1000 ist Speed Command Limit P1 10 SP2 O ir min 60000 60000 2000 2nd Speed Command Limit l P1 11 SP3 3000 O ir min 60000 60000 3000 3rd Speed Command Limit fo P1 12 TQ1 10 o 300 300 100 ist Torque Command Limit P1 13 TQ2 a0 o 300 300 100 2nd Torque Command Limi to P1 14 TQ3 aoo o 300 300 100 3rd To
193. downloaded into the servo drive this function can help to upload parameters from servo drive to the software When the uploading is complete message below will show Write OK Ge Help Password Setting These functions were described before Help provides the description of software operation while Password Setting can setup the password to protect data array 4 110 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Functions July 2014 This section is divided into two parts for descriptions 1 Capture CAP 2 Compare CMP Function of Capture Hardware introduction digital input DI7 DIZ is the only high speed digital input of ASDA A2 The servo drive only needs 5 us to know the change of signal The general digital input takes 0 5 ms Function of Capture must set on DI7 Please note that DI7 is a high speed DI and currently only Capture is applying its characteristic The signal is processed by hardware directly Thus the current position can be captured very quickly DI 1 DI 2 DI 3 DI 4 Servo Drive ae DI7 1 i ek DI 8 T 5us T 0 E Brief introduction The main function of Capture is to record the position into Data Array and the record can up to 800 The recording resource is pulse command auxiliary encoder or main encoder from servo drive The so called position is Motor Feedback PUU and the start poin
194. e When the cursor is moving around the curve the data that cursor clicked will be shown in the window of instant message Operation Description The following example describes the using method and operation steps Step 1 Use Auto Tuning to conduct the first inertia estimation Please refer to the section of Tuning for tuning procedure Step 2 After tuning please start system analysis System Analysis em IRO BHOOSOOSO SJF Q Bode Data Resonance 1 697 Resonance 2 1445 Resonance 3 Read Gain Parameters Base Gain Parameters p1 37 15 P2 00 188 P2 02 50 P2 04 753 P2 06 120 P2 23 1000 P2 240 P2 25 13 P2 26 120 P2 43 1000 P2 440 P2 45 1000 P2 460 Buttoni A Line Analysis Data 6 dB Set to B Line B Line Compare Data dB Rated Current 50 a Stop Servo From the result the size of resonance point at 697 Hz is 32 dB Adjust the parameter of the first resonance point by this data July 2014 3 5 ASDA Soft User Guide Step 3 Gain tuning for the second time 3 58 Auto Gain Tuning Off line Computation las DA A2 v Rigid Holding 11 v Ratio of inertia 11 5 Bandwidth 1120 Hz Compute Read Parameter 1 5 188 50 i lt E lt E lt E lt E lt E EEI P1 37 Load Inertia Ratio P2 00 Position Loop P gain P2 02 Position Feedforward P2 04 Speed Loop P gain P2 06 Speed Loop gain P2 25 OSC Reject filter P2 26 External Noise Reject
195. e 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque contral mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A 5 T Speed control mode Torque control mode 3 96 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 2 Select Position control mode PR the main screen will show as below ararats Piece Jararm Eaeaeadaio B amp B 0x90 PT Mode __ 0x01 PR Mode a ae fi 1 E ied ae br AA A a i Please setup the PR Mode Parameters in PR Mode Setup form 0x02 5 Mode 0x03 LMode o f 0x04 Sz Mode i A005 Tz Mode oo 0x06 PT S Mode 0x07 PT T Mode 0x06 PT PR T Mode Th ParaThd Msg 201 Cmd 0 Since PR mode setting is a specific item in ASDA Soft please select DI O Setup on the left first 0x01 PR Mode Step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DIL ox01 Servo On contacta C contactb Do4 Pulse dear contacta C contactb i contacta contactb DIS 0x21 Emergency stop contacta contact b July 2014 S ASDA Soft User Guide Chapter 3 Advanced Operation
196. e Incremental input pulse used to measure the real distance of Mark Synchronous capture The deviation between the real output pulse and the 084 axis target pulse when synchronous capture axis is 54h Deviation pulse enabled If it reaches the synchronization the value will number close to 0 It includes two versions DSP and CPLD When monitoring via panel pressing the SHF Key can switch the display of both DSP shows no decimal point while CPLD shows one 096 Firmware version 60h Do When reading through communication parameter mapping Low 16 Bit Low WORD returns DSP version number High 16 Bit High WORD returns CPLD version number a PLC scan time The update time of DI DO The unit is 0 5 msec 109 The amount of data Returns the amount of data array The unit is DWORD 6Dh array 32 Bits July 2014 3 15 ASDA Soft User Guide Chapter 3 Advanced Operation Code SEME Gh varaos Descriptions Attribute 111 Error code of the servo Error code of the servo drive only for the control loop 6Fh drive not including the motion controller m CANopen SYNC TS The time the servo drive receives SYNC signal 70h hasn t been through TimeStamp the filter The unit is usec CANopen SYNC TS The time the servo drive receives SYNC signal and has 11 in has been through the been through the filter filter The unit is usec To synchronize the device timing with the controller 114 CANopen timin
197. e _ Speed Command Limit Source P 1 09 P 1 11 DIn must Select SPDO or SPD1 Speed ternal Register 1 Internal Register 2 Internal Register 3 Commandis i000 RPM 2000 RPM 3000 RPM 60000 60000 60000 60000 60000 60000 M P1 02 Y torque limit 0 Disable torque limit function CL Enable torque limit function only for P S mode M Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 oe ternal Register 1 Internal Register 2 Internal Register3 Command is 0 100 jo jio 300 300 300 300 300 300 L j t J L L E a a m E E el E o a E L E G E E E E Ei a m a ParaThd Msg 201 Cmd 0 0x08 PR S Position Control Mode Speed Control Mode Dual Mode 0x08 is a dual control mode of position and speed which is the same as 0x06 The difference between both is the command source of position control The command source of 0x06 is external pulse signal while 0x08 is internal position command PR Users can select the position command according to different applications Step 1 Select the control mode from drop down menu July 2014 0x00 PT Position control mode 0x01 PR Position control mode 0x07 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Spee
198. e Chapter 4 Description of Motion Control 6 Digital output of E Cam When E Cam is engaged users can use Po 91 Area No Polarity is Negative to setup the start end degree of digital output of E Cam DO CAM_AREA number if DO CAM_AREA is ON it means the position of E cam axis is in the setting range When the E Cam Set the angle range of DO ON by P5 90 and P5 91 is engaging Please refer to table 1 and 2 below When the E Cam DO CAM AREA is OFF If P5 90 lt P5 91 Seamer eo lf P5 90 gt P5 91 E Cam degree 5 P5 91 P5 90 2 gt 360 P5 90 Area No Polarity is Positive pg oN 0 Step 8 When parameter setting is complete click Download to download parameters into the servo drive 7 P5 85 Engage Entry Offset P5 86 Postion of Master Axis P5 87 Engage Lead Pulse P5 90 Area No4 Polarity is Positive 0 P5 91 Area No Polarity is Negative 1 E CAM Curve Scaling 1 000 P5 83 E CAM Cyde Number M 1 P5 84 Flee nabs of master axis P 3600 i e EE A table M cyde ajc 4 18 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Step 9 Click to enter the setup page of Engaged Condition Manually create a table Y Command Source 0 CAP Axis 1 AUX ENC 2 Pulse Cmd 3 PR Cmd 4 Time axis ims 5 Synchronous axis Z Engaged Time 0 Engage Immediately 1 DI CAM enabled 2 Any action of Capture axis arja a
199. e Output Pulse Output Polarity Setting P 1 03 Y Output Polarity __ X Monitor analog output polarity 0 MON1 MON2 C 4 MON1 MON2 C 2 MON1 MON2 C 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 MBT1 fo 0 1000 ms MBT2 fo 1000 1000 ms JU JUS eje BRAK _ Max Motor Speed P 1 55 A MBI2 Pl 43 osep 1 28 Encoder Output Pulse Number P 1 46 2500 Pulse rev 20 320000 Regenerative Resistor Setting P 1 52 P1 53 751 Q 5 751 3001 W 0 3001 e001 RPM 10 6001 FEE BRB BBB BBR RPP RRR PREP Ree eee ParaThd Msg 201 Cmd 0 Step 7 Since it is in multi mode the system provides setting blocks of position PT mode PR mode and torque mode Setup Position PT Mode first 3 160 Internal Speed Torque July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below Asadi 0 trol Mode Selection P 1 0 0x0F PT PR T ieee Mode is changed Must Reboot Drive to Enable Setting _ 0x02 S Mod ee L ee ee Position Mode Parameter Setup 5 Tz Mod M Type of Pulse Command Input P 1 00 X Z Target Position Error Range P 1 54 PT S Mode Logic Type P 1 00 Z Positive Logic z300 Pulse 0 1280000 0x07 PT T Mode Pulse Type P 1 00 X Pulse Direction Over Position error Threshol
200. e into EEPROM 1 means to write into EEPROM when writing a parameter The written target is parameter If select Data Array as the target then the data will not be written into EEPROM ROM write into EEPROM when writing a parameter NO LYES PAR DN setup Users can setup the written target and delay time parameter or data array dale Ley O Parameter i Data Array select the specify parameter and setup parameter groups and parameter number Target a m P i 4 Pulse Number of Encoder Output Select data array to specify the position of data array Target 1 Data Array 100 Position of Dara Array ROM write into EEPROM when writing a parameter Please note that function of Is Invalid when the written target is data array 4 94 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide In addition delay time after writing parameters can be set here If delay time is set parameters will be written into when delay time is reached Setting of delay time uses Delay Time from Speed Time Setting as index BLY Delay time index DLYOO O P5 40 a Data 4 formats of data source are provided g 0 Constant Constant is the value in decimal Users can directly enter the constant into the specify parameters Data 0 Constant 0 2 2 744 1 744 E x Parameter Users can write a value from one parameter into another parameter by setting up parameter group an
201. e rotation speed of slave axis 1 Cutter circumference gt Cutting length During cutting two axes run at the same speed Other than that the speed of slave axis is faster than master axis The faster the slave axis operates the shorter the cutting length will be 2 Cutter circumference Cutting length As long as two axes run at the same speed it will be good 3 Cutter circumference lt Cutting length During cutting two axes run at the same speed Other than that the speed of slave axis is slower than master axis 4 42 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Slave speed Cut when bpeed is lo Cutter circumference gt Cutting length Master speed z _ Slave speed S Master speed 3 Ba SO Cutter circumference lt Cutting length Slave speed Cut when speed is high Zero relative speed cutting point Difference of the speed of slave axis The operation speed of slave axis can adjust the cutting length The more constant speed area the fewer users can do to adjust the cutting length oe of motor Slave speed Master speed Higher speed with the same circumference For wide cutter wide zero 6 8 0 6 0 f V dt Distance The distance of slave mtl the circumference of cutter The distance of master the cutting length Ma The extra traveling distance of slave In addition the definition
202. eanne i 8K C 16k Saanghsa ASA FFT T er ataeR SACRA gt S tox Norme 7 azb v Par Parar vhi 32 bit ee Varial z sett ADR Adar v 32 bit pee i X aes Liming Se z Ph ze zl B lt n aint ir o_o m e pes ie E rei 1 ESNE TTT The distance and range of the captured waveform can be manually control according to different control mode and actual operation reg a ae also can use the capturing and will automatically adjust to the ae area ae rele which is set by the user Step 4 Zoom in and zoom out the waveform The above chapter introduces the basic way to zoom in and zoom out the waveform However the most common way is to border select the analyzing area to monitor the curve For example a Use left mouse button as the start point starting from the top left and border select the area towards the bottom right corner 3 24 July 2014 D LO 5 cyl i mM D I I D 7 eana ee oe ae ee i i i T Oo I I an ep o E mma a D lt q 1 1 Fi O fav a E ea ae S lt ae I I Hi fav Ea I I ji C rad i i i L ee ee c et 2 5 I I ji D O i a0 O cn cert i i C D L 5 g V oO a 7 ZC O O g 2 O ab D J gc O o Z E O 2 O DD o os 2g Kan z 0 D gt 55 c C ran i 2 D 0 gt
203. ease observe the instructions to avoid the unnecessary danger Click __ it starts to analysis see as below system Analysis Wizard Sa L Emergent Stop When analyzing any problem occurs which requires emergency stop users can Emergent Stop click Emergency Stop to stop analysis apart from the hardware switch The following window will pop up when click Emergency Stop Please Servo Off the servo drive and troubleshoot the alarm immediately 3 52 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Click l to close the executing window E system Analysis Wizard re fnC sa Emergent Stop When the analysis is complete a reminder will pop up W System Analysis Wizard oo Ea es Delta ASDA Soft Sai System analysis finished Hey DekoASDA Sok eal nan System analysis finished Emergent Stop After analysis the value will be saved in A Line Scope screen of Gain and Phase will show the result system Analysis son x om M ESRAR Run E Analysis type 1 speed Open Loop v Rated Current 50 Resonance 1 e Status light If the data packet is delivered normally it shows green light If an error occurs it shows red light f _ Analysis Type 1 Speed Open Loop Users can select the system for analyzing according to speed control loop The analysis type can be categorized to speed loop and system module Jul
204. ed Must Reboot Drive tc Digital Input DI Setup P2 10 P2 17 o ioosevoon z C contata contact DI2 iox04Pusedear x contacta C contacth DI3 0x16 Torque command selection 1 46it0 v contacta contactb Di4 ox17Torque command selection 1 4Bit1 v contacta C contactb DIS J oozaermresct G contacta C contact Di6 ox2zJReverse inhibitimit v C contacta contactb DI7 0x23 Forward inhibit imit v contacta contactb Dis 0x21 Emergencystop x C contacta amp contactb Y External Digital Input EDI Setup P2 36 P2 41 EDIg oxoo Disabed amp contata C contactb EDI10 0x00 Disabed v contata C contactb EDI11 0x00 Disabed v amp contacta C contactb EDI12 ox00 Disabed v contacta C contactb a L lt is very suitable for electrical engineer to setup initial control mode and tuning With intuitive design and convenient drop down menu it save users loads of time Following is the main screen of Parameter Initial Wizard E Parameter Initial Wizard Asado B amp B Control Mode Selection P 1 01 z 0x00 PT Position control mode v If Control Mode is changed Must Reboot Drive to Enable Setting _ Common Setup Position Mode Setup Y Digital Input DI Setup P2 10 P2 17 Internal Speed Torque p11 foxoi servo On contacta DI2 0x04Pulse dear 7 contacta DI3 0x16 Torque command selection 1 4 Bitd contac
205. ed gain value This is for a higher level of engineer for advanced setting gt For the adjustment of resonance suppression users can setup parameters after acquiring the resonance position and value from the scope Figure below is the main screen after enabling scope function F Delta ASDA Soft ASDA A2A R Servo Auto Gain Turing ASDA AZR F Serva gt Fie Setung Took Parame ter Function Winders Hebo Bara BA ODA bs OS Domm E E OF ina Computation Lp ete M Emabke Gain Contral Panel Rotary Rigid Holding 2 as fandweth 100 Hr Ransofinerta 3 Compute Real Parameter PLS Load inertia fae time OM P20 Position Loop P gain jo P2009 Position Fasdonwan wl F244 Speed Loop P gan a Poe Speed Lace I gain Thy i P2 25 OSC Reject fier la P2 26 External Nose epr fo fe P249 Speed Datecnon Fitar and Jeter Suppress ool 2 as TRA Dardwvedth lar Auto Gain Turerg ASDA AIR A Sere ASDA AZR R Sena This section will be divided into two parts Interface Introduction It detailed describes the function of auto gain tuning Description of Tuning It describes the setup tuning procedures including the setting of motor speed operation distance and inertia estimation 3 33 ASDA Soft User Guide Chapter 3 Advanced Operation Interface Introduction Screen Analysis ie E E REGES BHRBHB HEEB HEHEHE RRS GI i l Enable Gain Control Panel A _ a A d i a
206. ed parameter click _ to complete the setting G Porameter Eder ASDA AT Servo oe Fi SE t 880 Po Pie Pam Pz Peet PS Pee remy Afreen Used Pera ke a Jn fran aT Tartil Made ond Chieut Dement Analog Maribor Gutu Proparin IMEN i Aite Decel Sadath Coretant of Analog Speed Comrani Lospans Pie Analog Speed Lear Filter te Revd triy A te toe F l vaki ECLEST homin ITAL F E iii raei The parameter shared Ey Note Double click the Value can be call eu tthe Paramete Setting Helper Description This function can quickly access the operation description of parameter editor 3 76 July 2014 Chapter 3 Advanced Operation Working Area ASDA Soft User Guide Paramete Sa gPeeeee ae wit el el Pil la a BHRHRBRHBRHE HBR HERE HEBER HBRHE HR HEHE HR HERR HRE eR eB eR eee eee ee 2 ee J Pon Frequently Used Para z E a ne ee fae p moo e e ption aa PO 00 fA 1 046 1 046 1 046 Firmware Version Be m PO 01 E ae 0x0000 OxFFFF 0x0000 Drive Fault Code PO 02 STS ae 300 127 1 Drive Status m m PO 03 MON 0x0000 0x0077 0x0000 Analog Monitor Output E E po 04 E 0x00000000 Ox20FFFFFF 0x00000000 Reserved a PO 05_ a 0x00000000 Ox20FFFFFF 0x00000000 Reserved a E 0x00000000 0x20FFFFFF 0x00000000 Reserved a m jpo 07 E 0x00000000 Ox20FFFFFF 0x00000000 Reserved m Po 08 TSON Hour 0 65535 0 Servo Startup Time a PO 09 I wom ey 21474
207. edforward P2 04 Speed Loop P gain P2 06 Speed Loop gain P2 25 OSC Reject filter P2 26 External Noise Reject P2 49 Speed Detection Filter and Jitter Su lt I lt I lt I lt I lt I lt I lt I KI xI Bandwidth Hz max 1023 200 P2 47 0 Disable Auto Resonance Suppression i Cc 5 P2 23 Notch filter Freq 1 Hz 50 1000 1000 P2 24 Notch filter Gain 1 IY dB O 32 0 P2 43 Notch filter Freq 2 v 697 P2 44 Notch filter Gain 2 Iv 32 P2 45 Notch filter Freq 3 lv 664 P2 46 Notch filter Gain 3 lv 15 a Adjust bandwidth b Compute the gain c Load in parameters Step 8 The fourth system analysis System Analysis sA IRO AOOO Bg Bode pata Resonance 1 Resonance 2 Resonance 3 Read Gain Parameters Base Gain Parameters P1 3715 P2 00314 P2 0250 P2 04 1256 P2 06 200 p2 23 1000 P2 240 P2 258 P2 26 200 P2 43 697 P2 44 32 P2 45 664 P2 4615 Button 1 4 Line Analysis Data 40 dB Set to B Line B Line Compare Data dB Rated Current 50 a Stop Servo The size of resonance point at 1445 Hz is about 2 dB Adjust Notch filter again 3 60 July 2014 Chapter 3 Advanced Operation Step 9 Gain tuning for the fifth time Auto Gain Tuning Off line Computation fas DA A2 x Rigid Holding fi Ratio of inertia 1 5 Bandwidth 1200 Hz Compute Calculation 1 5 314 50 00 P1 37 Load Inertia Ratio P2 00 Position Loop P
208. ency which is relative to decibel and Phase It represents the variation of frequency which is relative to phase The X axis of gain magnitude and phase is sampling frequency Its sampling range is 1 2000Hz 1 bad 1000 000 i i 1000 2000 Definition of gain tuning Gain Margin GM Phase of Bode Plot corresponds to the point of decibel dB at 180 Please refer to the dotted line in red color GM 0 corresponding Gain value Phase Margin PM Gain value of Bode Plot corresponds to the degree value of phase at rightmost 0 dB point Please refer to the dotted line in orange color According the definition mentioned above followings are the tuning principles 1 PM value The phase value that corresponded by gain value which is at rightmost 0dB point should plus 180 It is suggested to adjust the degree between 30 40 See the graph above The phase degree corresponded by OdB 136 180 44 which is close to the suggested range 2 GM value Decibel value dB which corresponded by the phase degree at 180 should be smaller than 10dB See the graph above July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 0 9 32 the gain value corresponded by 180 9 32 which is within the suggested range Spectral analysis can help to correctly setup the frequency of Notch gt M filter and check if the gain is optimized and reserves enough margin for mechanism 6 10 dB Instant Messag
209. er PRA Eel 0x08 PRIS reefs ERS 0x09 PRIT ALEAT PAR Feral 0x04 ST era AE 0 06 C4Nopen Mode 0 0c RS 0x00 PTPR 0x0E PT PRIS 0x0F PTIPRIT 0x00 PT Position Control Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 01 0n PT Pasition control mode 0x00 PT Position control mode 0x01 PR Position control mode 0x02 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A S T Speed control mode Torque control mode July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 2 Select Position control mode PT the setting block on the left will show as below Position Made Setup Internal Speed Torque Step 3 Setup Digital Input DI command Y Digital Input DI Setup P2 10 P2 17 Dx21 Emergency stop There are 43 command selections of digital input Users could directly set it up via the drop down menu Ox01 Serva On 0x02 Alarm Reset 0x03 Gain switching 0x04 Pulse dear Ox05 Low CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0
210. er Axis P5 87 Engage Lead Pulse P5 90 Area No Polarity is Positive P5 91 Area No Polarity is Negative P5 19 E CAM Curve Scaling P5 83 E CAM Cyde Number M P5 84 Pulse number of master axis P Pulse number of master axis P corresponds to E CAM table M cycle In this step users can setup the following parameters according to the actual situation P5 85 Engage Entry Offset o P5 86 Postion of Master Axis i P5 87 Engage Lead Pulse 0 P5 90 Area No Polarity is Positive i P5 91 Area No Polarity is Negative 1 P5 19 E CAM Curve Scaling 1 000 P5 83 E CAM Cyde Number M 1 P5 84 Pulse number of master axis P 3600 Pulse number of master axis P corresponds to E CAM table M cyde July 2014 4 13 ASDA Soft User Guide Chapter 4 Description of Motion Control Let s describe the parameter setting via the functional blocks below P5 64 Pulse number sent by master axis Master axise F P5 683 E cam rotation cycle P5 88 U engaged P 88 Y method setting values P5 8 lead pulse E Cam axise P5 89 Engaged distance H Slave E N Pulse 5 PUU Pulseje Controller a P1 44 gear ratio pi Ta a e address numerator P5 88 XX Ste eaeapyann P148 gear raio L i a TE Haa denominator se valuex P5 19 Table scales l setting 1 Master axis In this area users can setup T785 Postion of Master Axis its positi
211. ers Use Default Value P4 01 4 Read only parameters Use Default Value z 3 84 Pet g A Raad ondky pareret Ihe Delan Vaile P4 02 4 Read only parameters Use Default Value P4 03 4 Read only parameters Use Default Value P4 04 4 Read only parameters Use Default Value P4 08 4 Read only parameters Use Default Value P4 09 4 Read only parameters Use Default Value P5 00 4 Read only parameters Use Default Value P5 10 4 Read only parameters Use Default Value P5 14 4 Read only parameters Use Default Value 11 Version Conversion OK 4 In addition the message screen on the left will display the status of converted parameters During the conversion process if the default value max and min value in source version is different from the target version a warning message will pop up and ask if the users would like to change the value as the one in target version See as below lt is suggested to convert it according to the target version ASDA Soft cs w E Version Conversion Needs User Input Parameter Value changed Please Input the Correct Value Source V17 05 PO 49 D 32768 32767 Signed Et a 3 0 g 0 New Value ata 0x0000 0x0000 v Enter ibe lt Default all use default value Target V1 005 PO 49 Ox0000 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide m Open
212. ervo drive is supplied to the power and first Servo On Coordinate Offset Any reference point can be homing reference point Any reference point can be defined as homing reference point by ASDA A2 The reference point is not necessary to be position 0 As long as the homing reference point is confirmed the coordinates system can be built up Take the diagram below as the example The coordinate of homing reference point is set to position 2000 and the motor stops at position 1477 The coordinate system is built up after homing so that the system knows where the position 0 is in this coordinate system Users can confirm the position after coordinate offset via Status Monitor or Scope 2000 4000 rdin Coordinate 1000 0 1000 3000 0 after homing Coordinate after 3000 1006 1000 S homing o o The place the motor E stops after homing 1477 523 l H The place the motor nos stops after homing Searching Z s1 Z Pulse Z Pulse PL Signal PL Signal When homing is complete the motor To setup the function of coordinate offset exactly stops at the absolute position 523 P6 01 Homing Definition Value 2000 It is because the motor will decelerate to 2147483648 2147483647 The whole stop at the position near homing point absolute position will shift to the left and the actual position the motor stops will be position 1477 4 PR Mode Setting As mentioned before in Parameter Initial
213. eter code i Code Po 01 E a 0x0000 OxFFFF 0x0000 Drive Fault Code PO 02 STS 20 e300 127 1 Drive Status VER P0 03 MON OWO _0x0077 0x0000 Analog Monitor Output Po 04 0x00000000 0x20FRPFF Fm 00000000 Reserved PO 05 0x00000000 0x20FFFFFF 0x0000000F ALE Hi 0x00000000 0x20FFFFFF 0x00000000 Reserved mm a 0x00000000 0x20FFFFFF 0x00000000 Reserved b gT Po 08 TSON Hour 0 65535 0 Servo Startup Time Po 09 Hom ooo 2147483648 2147483647 0 Status Monitor 1 Po 10 E z gai 2147483648 2147483647 0 Status Monitor 2 MON Po 11 X E E 2147483648 2147483647 0 Status Monitor 3 Po 12 E om4 2147483648 2147483647 0 Status Monitor 4 Po 13 E s oe 2147483648 2147483647 0 Status Monitor 5 Po 14 X oo o O 32768 32767 0 Reserved Po 15 oo o o O 32768 32767 0 Reserved Po 16 oo o O 32768 32767 0 Reserved CM1A o 127 0 Display Status Monitor 1 CM2A oO O O 0 127 0 Display Status Monitor 2 Po 19 oma fs o o 127 0 Display Status Monitor 3 mwa i 0 127 0 Display Status Monitor 4 PO 21 CMSA oo o 0 127 0 Display Status Monitor 5 T Po 22 7 32768 32767 0 Reserved TSON po 23 ooo O 32768 32767 o Reserved Po 24 A oal 32768 32767 o Reserved PO 25 E mai 0x00000000 Paramenter Mapping 1 e The 8 row displays the parameter value Users can directly acquire the parameter value in this pane Pe t IT ETR F oH aT Saa 6468 aco Be By Exctena Pulse Inout Tene enid Mode
214. eters Help It provides parameter descriptive file of each series of servo drive Any questions or comments feel free to amp Online Help e mail us Servo Support delta com tw aia e F Revision History It provides the function description of each updated version 2 14 July 2014 Chapter 3 Advanced Operation Introduction Users will learn how to operate scope auto gain tuning for different mechanisms parameters editor for quickly setting up parameters and parameter initial wizard to complete the mode setting Functions that will be mentioned are showed below 1 Scope 2 Auto Gain Tuning 3 Digital IO Jog Control 4 System Analysis 5 Alarm Information 6 Parameters Editor 7 Parameter Initial Wizard July 2014 3 4 ASDA Soft User Guide Chapter 3 Advanced Operation 3 2 3 1 Scope ASDA Sotft provides built in high speed timely monitor tool Users could use this tool to capture and analyze the information scope adopts one main screen and supports flexible setting for multi channel Apart from basic hardware function its features include various functions aiming at internal motion control for ASDA A2 Followings are the main features gt lt provides 4 channels at most and the high speed sampling frequency provides two bandwidths 8 KHz and 16 kHz Data can be set as 16 bit or 32 bit Users can setup different monitor source for analysis This manual is based on
215. etting is complete the l user can acquire the curve in I i l l forward direction Then use Quick Input Edit to edit the curve in reverse direction Right click to enable the function Quick Input Editor From 1 To 5 F Descend ia 1 ra 1 i Copy 5 Exchange Interval points 1 Don t dose continue the next operation setup the curve range from 0 to 200 From 0 To 200 4 32 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide The edit method is All Value in the Table 1 Reverse the position curve for 180 degrees first Copy 6 Exchange Click to simulate E Cam which shown as below The coordinate is inverted at the moment and needs to be amended z 0 000 PUL l 109 600 PUUA 40000 1326 PUL 80000272 P 10 105 NA F gt S 120000 408 PUL needs to be 69 957 PUL 160000 544 PU E H i 129 810 PUS amended 200000 680 PUL 189 662 PuL l 240000816 PUL 249 515 PUL 280000 952 PULI 309 368 PUL 320001 088 PUL 364 220 PUL 260001223 PUL 429 072 PUUA 400001 259 PUL 488 925 PUDA O 30 60 90 ioe 6150 6180 2109 240 2700 300 330 no Then plus the max value 400000 to adjust the coordinate of Y axis Ascend E Descend i 400000 if O Copy Exchange Click _ draw the second simulated E Cam is shown as below 400000 000 PUL 109 600 PUU 359999 864 PUL 49
216. fault changed value into the servo drive Download all parameter All parameter will be downloaded into the servo drive Parameter comparison a When the communication is connected compare the parameter value in working area to the one in servo drive or the saved file by this function Please refer to the section of Parameter Configuration for detailed explanation Parameter conversion T When the communication is connected select the firmware version and convert the default value in working area Please refer to the section of Parameter Configuration for detailed explanation Open parameter configuration When the communication is connected use this function to change the firmware version Please refer to 3 70 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide section of Parameter Configuration for detailed explanation Print parameters Print all parameter group in working area 85 A Sho 6 PP Page f10 AAA Doom Lx E VER 1 045 1 045 Paes ALE Ox0000 OO EEA Stank REZET STS i 1 EBaIaEnA RESET MON Ox0000 Ox 0000 8 bhai tH BSR OKO000 Oro ER Bine ox0000 Ox 0000 Es tHe Shere Ox0000 OvO000 Bie Ses ce Ox 0000 Ox 0000 a TE TSON 0 QO Hour AARE Sh RS CMI 0 HRS ES PETE AE CM2 0 0 AREE PERT Tae CM3 0 0 HARE ESTER aE CM4 0 0 HARE ES PATERE CM5 0 0 HARE ES PERT ESE 0 0 kaci 0 0 aa 0 Q ie CM1A 0 0 EA REE TE eee AIBA CM2A 0 0 BEEKA RE PY eee AI SETA CNA 0 STE KK REE PS
217. fo ms 0 1000 f NO Max Analog Torque Commmand P 1 41 100 10V EM 0 1000 S b Intuitive design No need to memorize parameter codes or look up user manual for parameter description Users can complete the setting by its user friendly interface Following is the example of Sz mode Control Mode Selection P 1 01 0x04 Sz Zero speed internal speed command If Control Mode is changed Must Reboot Drive to Enable Setting Speed Mode Parameter Setup Analog Speed Command Filter P1 06 C Enabled 0 ms 01000 f Disabled Target Speed Threshold P 1 39 Target Speed Over 3000 RPM O 5000 Max Analog Speed Commmand P 1 40 50000 RPM 10V a O 50000 lt a Overspeed Warning P2 34 Speed Threshold Over 5000 RPM 1 5000 July 2014 MS Curve Time of Speed Filter P 1 34 P 1 35 P 1 36 Tacc 200 ms 1 65500 TDEC 200 ms 1 65500 Ts 0 ms 065500 TSL e TAGE DEC 3 87 ASDA Soft User Guide Chapter 3 Advanced Operation c Easier Digital Input Output DI DO setting In the past users have to look up user manual for the diversified DI and DO setting With this function users could setup and modify the setting by simply selecting the drop down menu of Parameter Initial Wizard Following is the example of Tz mode Control Mode Selection P 1 01 0x05 Tz Zero torque internal torque command v If Control Mode is chang
218. from the ist oont after comparing the last point enable CAP function rafter comparing the last pont set P5570 4 108 200 1 4095 5 59 Y axis source OCapture aws 2 Pdee Command gt bAndery eode JMan encoder PS 99 2 Thoger bgt 0 N0 Line PS S59 U Trigger PR command t2ut wil trigger PR command 245 after after the last position i compared Enable ON LINE Operation Wf Read OF Parameters NE Wene OP Parameters B oe July 2014 Chapter 4 Description of Motion Control Data Array Editor Capture CAP Compare CMP Mae wos Capture Compare Data Array Editor P5 10 Data Array Size P5 11 Data Array Address of Reading P5 12 Data Array Window 1 for Reading P5 13 Data Array Window 2 for Reading P5 36 CAPTURE Start Address of Data Array P5 38 CAPTURE Size of Data Array gi lea g P5 56 COMPARE Start Address of Data Array P5 58 COMPARE Size of Data Array we Leo z 1 P5 81 E CAM Start Address of Data Array P5 82 E CAM Peak Number N 100 cos i Update Array Address Burn to EEPROM This section is divided into four parts 010 _LoadFrom Servo Write into Servo 0000000000 0000000000 0000000000 0000000000 10000000000 0000000000 10000000000 10000000000 10000000000 0000000000 0000000000 0000000000 10000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 00000000
219. g 72h synchronization during the operation The unit is usec 123 The returned value 7Bh when monitoring via The returned value when monitoring via panel panel PAR Parameters Users can enter the desire accessing parameter Parameter format can be divided into two kinds 16 bit and 32 bit If users desire to access 32 bit parameter please check M 258 The standard setting of channel data is 16 bit Thus when users check 32 bit to expand the amount of one channel ASDA Soft will automatically close another channel to support the selected one Channel 1 and 3 are in one group while channel 2 and 4 are in one For example if channel 2 is set as 32 bit channel 4 will be closed so as support channel 2 ve 1 JA w ADR fw 32 bit Z CH3 NT ape 32bit i E E m l l Data M Data TT Data Relative a Relative 0 00 Relative CAN CANopen Users can enter the desire access CANopen objects data Enter the specified accessing position Index then specify the flag position Sub Index For example if Index is set to 60C1h Sub Index will be set to 02 Index c Sub 2 c Data The position data when cursor stops See example below when the cursor stops at one position channel 1 and 2 will show the current coordinates 3 16 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide fi amm TIPUL Click the cursor the data will be fixed and the relative value will be set to 0 d Relative It is
220. g parameter setting and downloading parameters into the servo drive Followings are the detailed description of this function a Parameter Comparison Users can compare the parameter value from working area to the one from different sources Click it the following screen will pop up July 2014 3 81 ASDA Soft User Guide Chapter 3 Advanced Operation 3 82 a ASDA Soft cae n fama Parameter Compare Type Selection Select one option to compare Current Values in Working Area VS Default Values in Drive Current Values in Worki ng Area VS Current Values in Drive ng Area VS Default Values in Working Area ng Area VS File l urrent Values in Worki Current Values in Worki A s a Select compared axes es Current Values in Working Area VS Default Values in Drive It compares the current value in working area to the default ones in servo drive Users can compare the difference when the communication is connected Current Values in Working Area VS Current Values in Drive It compares the current values in working area to the ones in servo drive When the communication is connected users could know which parameters in working area are modified but not downloaded into the servo drive Current Values in Working Area VS Default Values in Working Area It compares the current values in working area to the default ones When the communication is disconnected users could kno
221. g to the Alarm Number here displays the alarm name It describes the definition of alarm Users can know the causes of alarm Check if all wiring connections are conducte the wiring information in the user manual Examine CN terminal of the servo drive and the encoder AEE According to different Alarm Examine the wiring between CN terminal of the servo i i i REE T E ER E S E Causes it provides the checking check if all connections are tight methods The operation of the motor is not normal Alarm Hande Correctly conduct the wiring Install the motor again l i This column provides corrective Conduct the wiring again actions for users to troubleshoot the problem Repair or replace the motor Click this button to access the most updated alarm If the alarm number showed in servo drive s panel changes this can help to update the alarm information of the software July 2014 3 65 ASDA Soft User Guide Chapter 3 Advanced Operation lf the alarm can be cleared without re power on the servo drive click this button when the alarm Is cleared Alarm History Click NSIS the software will access parameter P4 00 P4 04 Alarm record and display the related information in the following columns Users can use this function to monitor the variation of alarms Serial communication RS232 485 communication time out Input power phase lt One phase of the input power is loss Emergency s
222. ggested to click Don t dose continue the next operation When using the function of Quick Input Edit So that the window of Quick Input Edit will not be closed every time when click ox Users can click Caneel to close the window Insert one Delete one If the user desires to insert or delete one E Cam point use Insert one or Delete one to adjust the table See the example below 4 10 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 Use the left mouse button to select the insert or delete E Cam point Right click to select Insert one 6 T 8 g 144 123 17 TiS 7 Quick Input Edit Insert one Delete one Import points Export points Then the new E Cam point is added 4 2 6 f 3 q 10 90 112 5 135 157 5 180 202 5 225 a 6 f a 9 10 Import points Export points Function of creating forward and reverse curve in one speed area is not supported at the moment However users can create the curve individually then combine one with another Its method is to divide the curve which has the same rotating direction into the same section If the stop area is between the forward and reverse area it can be regarded as the one for previous curve or the waiting area for the next curve see the figure below The stop area is planned as the one for previous curve If the whole section is divided into 400 parts the forward curve plus the stop area will ta
223. h Users can simulate PR path via this function This function is enabled only when it is online If not connects to the servo drive or communication fails the warning message will pop up oOo Show currrent PR Path RunPR Path 0 Stop PR Path t s Off Line now Please Set it Check El Show current PR Path When communication is OK the status light will turn light green Then click Run PR Path WG Show currrent PR Path Run PR Path 0 Stop PR Path RunPR Path 0 Activate PR command Users have to fill in the number Run PR Path to activate PR command of PR Path Then click 4 70 July 2014 Please fill in the field m Fill in O to start homing E Fillin 1 63 to execute the specified PR which means DI CTRG DI POSn is triggered Stop FR Path DI STOP is on Stop PR command which means to set P5 07 to 1000 and e Indexing Coordinates Setting Wizard Index Position Wizard _ P2 52 Index Position this is for V4 version only 100000 Download P2 52 Indexing Coordinates Wizard This function enables users to complete the programming of PR path and the relevant parameters setting Users can also easily download the setting into the servo drive after the setting is complete For those who need to create indexing table this function helps to shorten the setting time 100000 Download P2 52 0xA Index Position controlis supported fr
224. hanism the higher proportional setting of the rated current will be Generally the setting value is under 100 Exceeding the range might lose the efficiency of the analysis data 3 54 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Resonance Frequency When the analysis is complete Phase and Gain will show here ASDA A2 series servo drive provides three parameters of resonance suppression Thus three screens are provided as well and the top three value of resonance points will display in this section Users can manually enter resonance frequency and the value into parameter groups of resonance suppression Auto tuning Drew CO inabile Gain Control Panel Off ne Computation Comrrand smoottuna anc fitema gt mamtanai the origana direction of the motor Gain Value cr 0 SA 02 04 188 Ce 3 1000 e 25 55 25 3000 10000 Sa 45 10000 eo 2 July 2014 3 55 ASDA Soft User Guide Chapter 3 Advanced Operation 3 56 The gain parameter will be shown in A Line section Use the function of bleeds to fill in the gain value to B Line When re adjusting the gain value and starts to analyze the new gain value will be shown in A Line Users can analyze the value according to the curve of Bode Plot which is on the right Window of Bode Plot Users can observe the frequency response via Bode Plot The Bode Plot consists of two graphs Gain Magnitude It represents the variation of frequ
225. hapter 3 Advanced Operation E Only Zoom Time If uncheck this function range of Time X axis will not be changed when zooming or moving E Only Zoom Value If uncheck this function range of Value Y axis will not be changed when zooming or moving m Match Time by this CH Click this the time of other channels will be set to the same as the selected one f users desire to acquire the mean deviation of the selected channel value through root mean square calculation please check Show RMS Value and use left mouse button to border select the range Then the software will pop up the calculation result RMS 2048 Points MEN YEREL CH1 Feedback Position PUU R M 5 001 000 CH2 Command Position PUU R M S 000 000 CH3 Position Error PUU R M 5 000 000 7 CH4 Motor speed Real Time r min R M S 000 030 The title bar displays the selected points Spectrum Analysis FFT The analysis of resonance point is conducted by spectrum analysis FFT The so called spectrum analysis FFT uses the mathematic operation of Fast Fourier Transform to find the resonance point The servo drive fetches offsets resonance point by notch filter and to smooth the curve The unit of the vibration value is decibel dB Its calculation formula is N dB 20x logio AY oe Please refer to the related documents for further information about Fast Fourier Transform In real situation during operation when resonance or vibration o
226. he screen ground color and the ground color of the graph July 2014 3 9 ASDA Soft User Guide Chapter 3 Advanced Operation 4 Channel Setting if m ADR 32bit Feedback Position PUU Command Fosition PUU 3 10 The flexible channel setting enables users to setup the access data according to different demand ASDA Soft also provides Data and Relative as well as Time and Interval so that users can quickly access the point Different ASDA series servo drive provides different monitor items This manual only introduces the application of ASDA A2 series servo drive Followings are the description of the interface AR 32bit i7 CH3 T ADR 32bit Data Users can select the desire channel The data amount and channel setting might be different because of different series of servo drive Please refer to the descriptions below Select the command source Dx Mormal IDs Normal ADR address MAR Variables OM CHII Norm ze mahe PUL HE FAR Parameters Users can select the command source from drop down list IDX Normal directly access the built in monitor item The current supported monitor item shall mainly base on ASDA Soft V4 08 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide I CHA IDx Norme T 32 bit ar Ste PU N
227. he second Notch filter P2 43 P2 45 to the first Notch filter P2 23 P2 24 c Set the second Notch filter P2 43 P2 44 to 1445 and 9 Step 10 The fifth system analysis The gain value is over the range of 10 dB System Analysis om IRO Bode Data a a OOOO 1000 1445 Resonance 1 Resonance 2 Resonance 3 Read Gain Parameters Base Gain Parameters P1 37 15 p2 00314 P2 0250 P2 04 1256 P2 06 200 P2 23697 P2 24 32 P2 258 P2 26 200 P2 43 1445 P2 449 P2 45 664 P2 46 15 Buttoni Set to B Line July 2014 E A Line Analysis Data B Line Compare Data Rated Current 50 Sg 39 dB dB a Stop Servo 3 61 ASDA Soft User Guide Chapter 3 Advanced Operation Step 11 Compare the data of A Line and B Line The red curve is newly adjusted and the green one is the original one after the first gain setting Apply the function of system analysis to Suppress resonance point and adjust the system until it is stable System Analysis em A2RGO ZBHOOSOOO SJF Q Bode pata Resonance 1 Resonance 2 Resonance 3 Read Gain Parameters Base Gain Parameters P1 3715 15 P2 00 188 314 P2 02 50 50 P2 04 753 1256 P2 06 120 200 P2 23 1000 gt gt 697 P2 240 32 P2 25 13 8 P2 26 120 200 P2 43 1000 P2 440 9 P2 45 1000 664 P2 460 15 Buttoni A Line Analysis Data 38 dB 145 Deg Setto B Line M Bline Compare Data 44 dB 150 Deg Rated Current 50 val Start
228. hronous axis Use synchronous axis as the command of master axis Please complete the setting of macro 1 before selecting this function July 2014 4 19 ASDA Soft User Guide Chapter 4 Description of Motion Control m Engaged time The command source of master axis and engaged E Cam 2 Engaged Time 0 Engage Immediately 1 DI CAM enabled 2 Any action of Capture axis 0 Engaged Immediate E Cam is engaged right after it is enabled P5 88 X 1 1 DI CAM enabled DI Off Control the engaged time DI 0x36 DI CAM On 2 Any action of CAP axis Use CAP function When capturing the first point E Cam is engaged m Disengaged time Disengaged command of master axis and E Cam axis 0 Do not disengage 1 DI CAM disabled U Master axis exceeds ECRD incemental symbol DIR then 0 2 Disengage and return to stop state Stop position is precise 4 Disengage and return to pre engage state Lead Pulse 0 6 Disengage and return to stop state and maintain the speed 8 Disable E Cam function after disengaging U Disengaged Time Repeat Cydically 0 Do not disengage unless E Cam Is disabled 1 DI CAM disable Trigger DI when it is disengaged DI 0x36 DI CAM Off U Set the disengaged time via Bit OR Disengaging P5 88 BA lt gt 0 E C to th tti di ee of P5 89 disengages Then a Call PR defined in P5 88 BA ps Bit E stops P5 89 when disengaging
229. i eioan amp arema B E tom 1000 m ceis CCE oai EE EET 0 000 ia This chapter will be divided into three parts to introduce scope Interface Introduction It detailed describe the function and definition of each button Operation Description It guides the users about how to create a wave file starting from the setting of command source screen wave capturing and save the file Users will learn several ways to analyze the wave use the scale function to observe the detailed wave information slight adjust the setting to specify the displayed range and use the stop condition to trigger the event FFT Analysis It introduces the special tool FFT and describes how to search the resonance point on mechanism by this function Then suppress the resonance by notch filter Interface Introduction 1 Tool bar of scope O eA Aas BBOOO0 AG OF ASDA Soft provides instant monitor tool Uses could use it to monitor each data i Open a SCP scope curve file Open the saved SCP file Save as a SCP scope curve file Save the captured SCP file in the computer Zoom in or zoom out the whole oscillograph so that users can analysis the details Previous screen F7 When adjusting the size of oscillograph this function can be used to turn back the graph July 2014 3 3 A S Zoom in F5 Zoom out F6 ASDA Soft User Guide Chapter 3 Advanced Operation After adjusting the oscillograph this button
230. inertia 0 1times I 16 IGBT temperature M 17 Resonance frequency Hz W 18 Absolute pulse number relative to encoder Z phase July 2014 2 9 ASDA Soft User Guide Chapter 2 Basic Operation Mapping Parameters Setting Monitor variables in Mapping Parameters group can a E E E m E m m E 2 10 be displayed in the table of Monitor Items through this function Users can setup the mapping parameters by its checkbox function Please refer to the description below Mapping Parameters Setting 200 MAPPING 1 PO 25 lt lt P0 35 P0 0 Firmware Version High Word Item 201 MAPPING 2 PO 26 lt lt P0 36 PO 0 Firmware Version High Word Item 202 MAPPING 3 PO 27 lt lt P0 37 PO 0 Firmware Version High Word Item ad wine e h tow wordttem P P Z p a p z 203 MAPPING 4 PO 28 lt lt P0 38 PO O Firmware Version High WordItem P LowWordItem P L 3 it change 204 MAPPING 5 PO 29 lt lt P0 39 P0 0 Firmware Version High Word Item P Low Word Item P i M 32bit 205 MAPPING 6 PO 30 lt lt P0 40 PO O Firmware Version HighWordItem P LowWordItem P I 3abit 206 MAPPING 6 PO 31 lt lt P0 41 PO O Firmware Version High WordItem P Low Word Item iP i 32bit 207 MAPPING 8 PO 32 lt lt P0 38 PO O Firmware Versio
231. ing P5 82 E CAM Area Number 200 Z 1 Waiting S2 Acc S3 Syns 54 Dec 54 Waiting S Curve l St 4 i 1 ep 2 1 i e gt i i i Rotary Shear m i Adjustable Sealing 599 995 mm circum 1884 939 mm l Zone Encoder Diameter d2 250 mm Grcum 785 398 mm I Encoder Pulse 10000 _ puilse rev P5 84 manually Input i Motor PUU NO per rev 100000 PUUj rev Setting Pe 3 es Fa h et 7 Cutting length L 2000 mm 56 548 3556 489 7 50 50 I i EEE U U U creat e a a a a a a a a a a a a a a O a a a a P _ Previous i Draw _ Download Table Burn Table Data Information Simulation Unit mm Slave Pulse 100000 PUU Master Pulse V 100000 puse O ee a Gil state a a bites a RES TE a tam Master Simulated Speed 100 pulse s 0 001 mm s Slave Information nanan a 2 2 2 Ps iis eed hh id gt idee sham cael to Se ree gt eal aay ee eS et E E ee X E v Position Y PUU mm 7 Speed v v PUU s mm s n E Acceleration A Y Step 1 Setup E Cam area number It is suggested to set the value to 72 to can bring the best curve resolution 1 Waiting 54 Waiting 5 Curve Motor PUU NO per rew 100000 PUU rev Step 3 Setup the speed allocation of E Cam curve The size of constant speed area in E Cam curve is adjustable thus other areas in
232. ing window will pop up Users select the specified language the operation interface of ASDA Soft will switch to the specified language automatically ASDA Soft S tting COM Port Setting Language Language Setting 1 English 2 See ac OF aie Ae X Cancel YOK 2 ASDA Soft User Guide Chapter 2 Basic Operation 2 4 Status Monitor Description Through communication ASDA Soft could display the built in status monitor parameters of ASDA A2 servo drive in diagram and shows the current data Run ey ASDA A2 Servo Help Monitor Items select Monitor Items 0 Motor feedback pulse number after electronic gear ratio is set pulse 1 Input pulse number of pulse command after electronic gear ratio is set pulse 2 Position error counts between control command pulse and feedback pulse pulse 3 Motor feedback pulse number before electronic gear ratio is set pulse 4 Input pulse number of pulse command before electronic gear ratio is set pulse 5 Position error counts pulse 1 6 Input frequency of pulse command Kpps 7 Motor rotation speed r min 1 8 Speed input command Volt 1 9 Speed input command r min 10 Torque input command Volt 11 Torque input command 12 Average load 36 13 Peak load 96 14 Main circuit voltage Volt 15 Ratio of load inertia to Motor inertia 0 1times 16 IGBT temperature 17 Resonance frequency Hz 1 18 Absolute pulse num
233. int 2 after comparing the last point enable CAP function 3 after comparing the last point set P5 57 0 m Axis source If it is set to main encoder CMP position will be the current feedback position of motor encoder P5 59 Y axis source C O Capture axis O 2 Pulse Command 1 Aundliary encoder 3 Main encoder E Trigger logic P5 59 7 Trigger logic 0 NO 1i NC E Output pulse of DO4 The range shall between 1 and 4095 ms It is because data format in P5 59 is in hexadecimal Thus the max setting range can up to FFF P5 59 CBA Output pulse 100 14095 4 124 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Sai Write CMP Parameters After all setting is complete click to download the newly setup parameters into the servo drive Please note that both P5 57 and P5 58 are volatile parameters When the servo drive is re powered on value will return to the initial value Use the function of ON LINE operation to simulate the action and to make sure if the setting can satisfy the demand C Enable ON LINE Operation Si write CMP Parameters ik cmp Disabled l Read CMP Parameters Before enabling ON LINE operation it is suggested to use to check if the servo drive is still in initial setting or has completed the setting of CMP after re servo on if the compared parameter is not set from the beginning There are four methods to see the output st
234. irmware version V1 027 F ASDA Sof eiee Password Protection Data Array Protection Level Support from V1 027 f O Lock the whole array C hLock array address 400 799 C Lock array address 7100 2799 f S Lock array address 500 2799 C 2Lock array address 200 2799 6 Lock array address 600 2799 S Lock array address 4300 2799 f F Don tlock the array Password 116777715 Re type Password Lock Password Password has not yet been enabled The setting range can be divided into Data Array Protection Level Support from V1 027 f O Lock the whole array C Lock array address 400 799 f LiLock array address 100 799 S Lock array address 500 799 C ELock array address 200 799 6 Lock array address 600 799 C S Lock array address 300 799 7 Don t lock the array July 2014 Chapter 3 Advanced Operation After the setting is complete the following window will pop up ASDA Soft oc Sa Password Protection ASDA Soft User Guide Data Array Protection Level Support from VL027 A Es m m m m Password 1 1677 72715 ock Pa Unlock Password Set password successfully Enter the password to remove the protection function ASDA Soft Password Protection Data Array Protection Level Support from V1027 f O Lock the whole array f 4 bLock array address 400 799 f d Lock array address 100 799 S Lock array address 500 2799
235. irst deceleration time When the signal is triggered setup the first deceleration time of returning to the origin point DEC1 ist Deceleration Time ACOO 200 P5 20 Use the drop down list to setup the 16 sets of acceleration deceleration time Accel Decel Time DEC2 The second deceleration time After the function of searching origin point is triggered DEC Ind Deceleration Time Use the same deceleration time as STP command STP command in General Parameter Setting use STP from Deceleration Time of Protection under General Parameter Setting for this setting m Delay Time after Homing is Complete For some applications after homing is complete Command reached not feedback signal users need to setup the delay time before proceeding to the next command Then the following function can be used BLY Delay Time BLYOO 0 P5 40 July 2014 4 83 ASDA Soft User Guide Chapter 4 Description of Motion Control With the value of 16 sets of delay time in Speed Time Setting users can extend the time length E Set if homing is executed right after the servo drive is power on Homing must be executed when the servo drive is just power on in some applications such as the stand of metal working machine BOOT Activation mode when power on wis i 1 Enable homing function 0 Homing will not be executed right after power on It has to be triggered by DI Ox27 SHOM 1 Auto Homing When the s
236. itage volt J 25FRabe of toad merta to Motor nerts 0 Hames DRS temperate 11T Fesonarce teauency De Di Abeokte ase amier relate to encode J chase Title Vertically DOMPN 1 PRIS PIS PO Oremare verson a an Lo 1parrns s 2 Po 3 IS c lt POM POOFemawre verno me Ipa 3 POI APON POOF emmare versor mpn 4 PO 28 0 28 lt lt PO 30 POOF emmare veroor rg We LAITE 85 POI CTI PO OFr Fermoy Hah We ADOSMAPPING P5 PO 3 lt lt P0 40 POOF emeare versar HAW MAW TAPANG 6 POJI lt lt P0 41 POOsemamre vereor Mich We mh Ve 207peweras 8 F052 C TIIS POOFremare verser High We 4 8 eae bis hs Da a PBs Ps Pa De x ae Da Aar Sh Pe i Da Dospan a Pace HI Mortar 25 PO 13 lt 6 F0 21 Parameter Ldnor PareLa Peratweed Suipended from O ASDA Al Servo ASDA Al Servo 2 13 July 2014 ASDA Soft User Guide Chapter 2 Basic Operation 2 6 Help Description The descriptive document is provided in Help Users can know how to use ASDA Soft in a faster way Servo Drive Parameters Help and Revision History are also added into it Clients can acquire the timely support on parameter setting and troubleshooting E Help Software Guide Servo Drive Parameters Help Online Help Revision History About Oooo y odon i eseription Software Guid It provides the function description and Ware yuge operation procedure of the software Servo Dive Param
237. ity Setting P1 03 X Monitor analog output polarity 0x09 PR T Mode X Common Setup Rotaion Direction Selection P 1 01 Forward CCW Reverse CW Forwrd CW Reverse CCW p Encoder Output Pulse Number P1 46 2500 Pulse rev 20 320000 gt Output i Forward Output Reverse Output 0 MON1 MON2 C 1 MON1 MON2 c 2 MON1 MON2 C 3 MON1 MON2 Max Motor Speed P 1 55 Delay of Brake Selection P1 42 P 1 43 maTi fo 0 1000 ms meT2 fo 1000 1000 ms 7 ATAT MBTI F 1 42 MBT2 Pl 43 mer osep 1 28 751 Q 5 751 3001 W 0 3001 Resistor Setting P 1 52 P 1 53 6001 RPM 10 6001 Analog Torque Command Filter P 1 07 C YES fo ms NO Max Analog Torque Commmand P 1 41 100 10V pang 0 1000 N Irre reee TTT rTITITTE ParaThd Msg 201 Cmd 0 ASDA Soft User Guide Step 7 When the setting of Common Setup is complete the next step is Speed Mode Setup July 2014 0x04 Sz Mode 3 113 ASDA Soft User Guide The screen on the right will be switched to the one as below Meada _ 0x00 PT Mode Chapter 3 Advanced Operation Mode j 10 0x01 PR Mode 0x04 Sz Zero speed internal speed command X Preset Pate te Gea teat Retin Wve tp ENa S 0x02 S Made 0x03 T Mode a 0x04 Sz Mode
238. jrev W P5 84 manually Input Motor PUU NO per rev 100000 PUU rev Setting setup Cutting length L 500 mm 565 482 5654 817 Users can manually modify the value of P5 84 at the moment When P5 83 is set to 1 value of P5 84 represents the pulse number received by slave axis when it operates one cycle When the value of P5 84 is known users can manually enter the value 4 47 ASDA Soft User Guide Chapter 4 Description of Motion Control P5 81 Start position of Data Array 100 P5 82 E CAM Area Number 6 P5 83 E CAM Cyde Number M 1 P5 84 Pulse number of master axis P Poston E gear ratio of slave axis It is the required PUU when motor operates one cycle lt the value is known directly enter it Users also can calculate the value via E gear ratio Motor PUU NG per rev 100000 PUU rev ea fa Motor PUU per rev Pu Pi 4s 10 Pu 1280000 Pi H 176 il Write to Servo Cutting length L Cutting length of the material Please enter the desired value Cutting Length L The software will limit the cutting range according to knife number and knife diameter Cutting length 1 500 5654 817 4 t limits the setting range of cutting length 4 48 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide lf exceeding the limit a warning message will pop up Cutting length L l 60000 mm 565 482 5654 317 Delta ASDA Soft V5 Spee
239. ke 200 parts and the reverse one will take another 200 Stop Acceleration Deceleratio Position Curve Acceleratjon 3 Decel ration 3 400 divisions 200 divisions gt j4 200 divisions gt 45 55 Constant Sp ed 3 This method is to create the curve by dividing the same rotating direction of curves into different sections The setting method will be elaborated in Speed Fitting Creation Step 3 Press raw to draw the simulated E Cam curve see the left figure Select Simulation which marked in red ASDA Soft User Guide Chapter 4 Description of Motion Control 89495 550 PUL 12207 453 PUU 743934 993 PUL 6734 755 PULIs 65174 316 PUU 1252 058 PUU 56013 6538 PUL 4210 642 PUUS 10210 612 PUL 31574 132 PUU s J 1049 995 PUL 37046 8230 PUU s 110 623 PUL 180 210 240 270 300 330 gege 7719529 PUU Step 4 Make sure the E Cam curve is correct Users can also use Information to simulate the master axis Information Unit mm Slave Pulse 100000 PUL Master Pulse V 100000 pulse Master Simulated Speed 499 pulse s 0 001 mm s re information X 165 55 E Position Y 15618 753 Puu lise ai E iispeed vcr 255 020 PUU s 0 0255 mms Acceleration ACY Step 5 Setup the start address of data array when it is saved into the servo drive The default value of P5 81 is 100 The setting range is
240. lHlO JOG CON Gl kecen 3 44 July 2014 vV ASDA Soft User Manual Table of Contents Setting of Digital Inputs OUTPUT wc sesece Gebers Gece oboe a a 3 45 6 ener ne rrr ite OnE ar rr ei ee iate ne or erates een pentane ene tes Oe 3 48 SA AV OUCH Nolo aaa n e EE E 3 49 iterace NVodUCHON sesca E wanes 3 50 Operation DESG IDUO i tissvanrosre sar rareo r Irr EIET rori 3 57 S20 ALAFIMANTORM AON sentucaaesesweisacars eetoseuosvawnus EE oivetnavereivowsuieiwaseieeleensteinseneeinoiuyes 3 63 BASIC OS A OI at neat era nace cetacean deme ea tan ty anode 3 63 CUNEN PIQUA settee ceta tee EEEE EAEE 3 64 Ala PSO saci assis tarctwcccte A stnsasaeceweacapacseaee 3 66 3 6 Parameter EONO aoea E 3 67 Naiteva reversal aydgele 0 ie i019 e e E 3 68 Paleo tere COMMU KallO Mntesnondeancsoedtansusteincutamsngcatansaonstensdaantemsdaneneasdapenonddaties 3 81 Oa IP akalmMeler ileal VV IZA O ci E a tales S 3 87 iterace INTROGUGCTIO Manens dae Sedan A 3 89 Mode SOU Gis cscrcrep2s nereneaeaseviescacnueetetssvieseaeeiricee Gi Ges eee a ees 3 92 Chapter 4 Moton CONT Ol nscivectce cece cate ctrcteciwetecirretiariet ace eee 4 1 Vale A evans cloves ce ve as A ose eaeaieds 4 2 WATER AGE IMIFOOUCIION ssa eseegeaee acausiededcewyeah dd osccabaceaveceacases 4 3 E Gaim Table Oreal Oricine EEEE 4 4 42 PR MOJE SEWING ccin 4 62 interface INTFOGUCTION sirisser i a i aAa 4 64 Mode Setna ansa R RS E S S 4 72 EXAMP Onea e E R E E E E ae nee aera nee ee are 4 101 43
241. lash_ The prompt window will pop up starting from DI1 3 46 July 2014 Chapter 3 Advanced Operation DIt Ox00 Disabled DI 0x00 Disabled DI3 0x00 Disabled DI4 0 00 Disabled DIS 0x00 Disabled DI6 0x00 Disabled DIS 0x00 Disabled DIS 0x00 Disabled DI10 0x00 Disabled DI11 0x00 Disabled DI12 0x00 Disabled _ DI13 0x00 Disabled D114 0x00 Disabled hutowti hy _ 001 0x00 Disabled DO 2 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DOS 0x00 Disabled E Disable DI O DI1 0x00 Disabled DI2 0x00 Disabled DI3 0x00 Disabled D14 0x00 Disabled DI5 0x00 Disabled DI6 0x00 Disabled DI7 0x00 Disabled DI8 0x00 Disabled DI9 0x00 Disabled DI10 0x00 Disabled DI11 0x00 Disabled D112 0x00 Disabled D113 0x00 Disabled DI14 0x00 Disabled eRRERRERREREE DO 1 0x00 Disabled DO2 0x00 Disabled DO3 0x00 Disabled DO4 0x00 Disabled DO5 0x00 Disabled M Keep DI control status when ch aL ALLE Bememeektekt ht me mek 9 E PEEEEIEEEE ofr Cor or j o BeBe eeR eee eee xl ekke Sa Click Disable the status columns will become red Click Enable again to resume it ASDA Soft User Guide Close all DI it will return to the Original screen Click this to disconnect the communication if users need to pause DI1 0x0
242. lerates to stop and operate towards the opposite direction for a short distance graph D When it starts printing again paper operates at the same speed and same direction as the printing cylinder So that the printing plate always synchronizes with the paper when printing If the printing axis and paper separate paper is retrieved Both axes still synchronize with one another With this pattern the adjacent printing pattern is closely arranged with one another and it therefore saves the use of paper This application is very common in intermittent printing machine July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide The rotating direction of gt printing axis A Printing plate gt Direction of the paper The rotating direction of material feeding direction ASDA Soft provides servo setting wizard for intermittent motion control Users could plan it according to the required print area and blank area and manually adjust the angle in synchronous area and waiting area Complete the setting of material feeding axis by following the steps below Step 1 Select Rotary shear Printer Machine to enter the main page Please select one way to create E CAM Table Master Printer L nxd2 A f y g d j gt gt PL Bl Rotary Shear Printer Machine DLA Slave July 2014 4 57 ASDA Soft User Guide Chapter 4 Description of Motion Control Step 2 Enter the main page
243. lter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed 128 1 536870911 12 80 10 1 416Kpps Low Speed 416Kpps High Speed Gearl 2 208Kpps Low Speed 208Kpps High Speed 1 2147483647 Source of pulse command Gear2 fm Seer 0 Open collector for low speed pulse 10 4 Line driver for high speed pulse 128 1 536870911 Gon 12 80 10 M Pulse Command Filter P 1 08 C Yes fo Unit 10ms h 1 536870911 0 1000 Gear4 _____ 12 80 NO 10 Din must Select GNUMO 1 BEB BBB BRR BRR RR RRR RR eee ee eee RRR Ree ee eee eee 8 ParaThd Msg 201 Cmd 0 Cee eee ee ee ee eee eee ee ee eee ee Step 8 Since b PR mode setting is a specific function in ASDA Soft click the function block below a reminder will pop up and ask users to click b for PR mode setting The prompting message in main screen e Setup the PR Mode in PR Mode Setup 0x08 PR S Position control mode Speed controlmode i Control Mode is changed Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup form July 2014 3 133 ASDA Soft User Guide Chapter 3 Advanced Operation The screen on the right will be switched to the one as below _ 9x00 PT Node 0x01 PR Mode ofl0x02 5 Mode 1x03 T Mode _ 10x04 5z Mode 0x05
244. mation and show in the screen Click EZTEETT to close the pop up window the main screen will show nothing as the following one July 2014 3 63 ASDA Soft User Guide Chapter 3 Advanced Operation Users can look up alarm messages by entering the alarm number in Off line status The system will show the alarm description for users reference 2g aE ohi Taye TEST iha SE es p History Encoder Error View POPE Current Alarm POP rr ee can be used to check the alarm causes checking methods and corrective actions Users can troubleshoot the problem according to the above mentioned information Followings are the description of each item n Seman AlarmHistory Encoder Error View Alarm Code SS if all wiring connections are conducted correctly by Correctly conduct the wiring the wiring information in the user manual Examine CN terminal of the servo drive and the encoder Install the motor again Examine the wiring between CN terminal of the servo Conduct the wiring again drive and the encoder connector of the servo motor and check if all connections are tight The operation of the motor is not normal Repair or replace the motor 3 64 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide When software and servo drive Is ONLINE it will show the current alarm number If different alarm occurs during operation Alarm Number will display the last one Accordin
245. md 0 A Step 8 Since b PR mode setting is a specific function in ASDA Soft has specific function click the function block below a reminder will pop up and ask users to click amp for PR mode setting Internal Speed Torque 0000 PTPR Poston conto meade x IF Control Mode 6 Manyas Mast Reboot Drwe tp Enatie Settings The prompting message in main screen Setup the PR Mode in PR Mode Setup b tol Mode Selection P 10D SS EDD 0x00 PT PR Fosition control mode i Control Mode is changed Must Reboot Drive to Enable Setting Please setup the PR Mode Parameters in PR Mode Setup form ParaThd tig 201 Cmd 0 Please setup the PR Mode Parameters in PR Mode Setup form 3 150 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 9 If users desire to setup speed or torque limit click the fifth block Internal Speed Torque Setup E Parameter Initial Wizard Aadio amp TT pet Sect o o Positi If Control Mode is Must Reboot Drive to Enable Setting 0x01 PR Mode dailies a as 0x0215 Mode UCU OROUR RO UU OC UPR C ORR RC RRQ QO h 8 fT 0x03 T Mode Sr Speed Tore tit setup P1 02X speed limit 0 Disable speed limit function _ 0x07 PT T Mode 1 Enable speed limit function only for T mode eee Speed Command Limit Source P 1 09 P 1 11 __ 0x09 PR T Mode e DIn must Select SPDO or SPD1 0x0A S T Mode Speed ternal Register 1
246. n High Word Item P Low Word Item P l M 32bit step 1 Check the preset mapping parameters step 2 Step 3 Mapping Parameters Setting 200 Mapping parameter 1 PO 25 lt lt P0 35 PO 0 Firmware Ve 201 Mapping parameter 2 PO 26 lt lt P0 36 P0O 0 Firmware Ve 202 Mapping parameter 3 PO 27 lt lt P0 37 P0O 0 Firmware Ve 203 Mapping parameter 4 PO 28 lt lt P0 338 PO 0 Firmware Ve 204 Mapping parameter 5 PO 29 lt lt P0 39 PO 0 Firmware Ve 205 Mapping parameter 6 PO 30 lt lt P0 40 P0 0 Firmware Ve 206 Mapping parameter 6 PO 31 lt lt P0 41 P0 0 Firmware Ve 207 Mapping parameter 8 PO 32 lt lt P0 38 PO 0 Firmware Ve GG GG G Ss Setup the mapped parameter The mapped parameters have two kinds 16bit and 32bit When setting up 16bit parameters users could setup the specified parameters according to low high word See the above example When users read the value of P2 02 and P2 04 respectively users could set them up in low word and high word items High Word Item P 2 7 4 Low Word Item P 2 w 2 M 32bit When desire to set 32bit parameters please directly setup the low word item Then click 32bit item The system will fill in high word items and complete the setting of 32bit mapping parameters See the above example If desire to access the numerator and denominator of E gear ratio users can refer to the setti
247. n Off output command Step 11 Use DI to control the operation steps Select DI1 DIS to control SON servo on SHOM search homing and CTRG PR command trigger first Step 12 Select D11 cf to enable DI1 as NC frequently close contact and servo on DI1 0x01 Serve On on J Step 13 Select DI2 2x9 to enable DI2 as NC frequently close contact and start to search homing origin Then click _2Ww f again to change DI2 to NO frequently open contact since we only need to trigger it once DI2 0x27 Return to homing origin on J FOO Step 14 When homing is complete select DI3 24 to enable DI3 as NC frequently close contact and trigger PR 30 Then click 2 to change DI3 to NO frequently open contact since we only need to trigger it once DI3 0x08 Command triggered Lon J Step 15 Check if DO4 is glittering If the answer is yes it means it is working and CMP function is executing Function of DO4 has been changed DO4 0x00 Disabled Loft On Off Lon J When compare does output the light is ON Lor When compare does not output the light is off 4 140 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Step 16 Make sure DO4 does output Then use scope to confirm that DO4 outputs every half turns The setting of scope is shown as below select Channel 1 and 2 to monitor em aao xuoooo asjowr ee ASDA A2 ASDA A2R ASDA S Scope as 32767 00 i
248. n command 0x06 write one data The issued command is showed as below Content of communication command Set the Reading Address of Data Array Number Command start Add Written Data 4 0x06 P5 11 11 Then read the content of specified address by communication command 0x03 continuous reading The issuing communication command is as follows Content of Communication Return Data Command Read Data Array P5 11 P5 12 P5 13 oe conma A High L High L High Add Amount ow a i ow gt Word Word Word Word Word Word 11 0 100 0 200 0 5 0x03 P5 11 6 Word Data of address Data of address Read Address 11 12 13 0 300 0 400 0 6 0x03 P5 11 6 Word Data of address Data of address Read Address 13 14 15 0 500 0 600 0 7 0x03 P5 11 6 Word Data of address Data of address Read Address 15 16 4 128 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide The return data on above table represents parameters P5 11 P 12 and P5 13 that had been read back which is the data content in address 11 16 of data array Value will also be displayed in this window 2 Easily setup data array of Capture Compare and E Cam Users can setup the start address and amount of data array including Capture Compare and E Cam P5 36 CAPTURE Start Address of Data Array P5 38 CAPTURE Size of Data Array 0 GO P5 56 COMPARE Start Address of Data Array P5 58 COMPARE Si
249. nced Operation step 9 Then setup torque mode E Parameter Initial Wizara Azado amp Control Mode Selection P 1 01 oxoF PT PR T 7 IF Control Mode is changed Must Reboot Drive to Enable Setting LER RRP Torque Mode Parameter Setup Analog Torque Command Filter P 1 07 C YES fo ms 0 1000 NO Max Analog Torque Commmand P 1 41 100 10V EM 0 1000 an ParaThd Msg 201 Cmd 0 Step 10 If users desire to setup speed or torque limit click the sixth block Internal Speed Torque 3 162 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below Asadi oe eaaa Mode 1 0 0x00 PT Mode aaa ee Mode is changed Reboot Drive to Enable Setti 0x01 PR Mode ppor PTR l ree E di i fe 0x02 S Mode 0x03 1 Mode itpDP RRR RR BR RRR Ree eee eee ee ee eee eee eee eee 0x04 Sz Mode F Speed Torque Limit Setup 0x05 Tz Mode X speed limit 0x06 PT SMode 0 Disable speed limit function 0x07 PT T Mode C 1 Enable speed limit function only for T mode 0x08 PR S Mode Command Limit Source P 1 09 P 1 11 0x09 PR T Mode 0x0A S T Mode DIn must Select SPDO or SPD1 0x0B CANopen 0x0C Reserved 0x0D PT PR Mode 0x0E PT PR S Mode 0x0F PT PR T Mode_ Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1
250. ng Acc Dece Waiting area area area area The setting method of waiting area The initial value in waiting area is O It is because the acceleration deceleration curve is smoother than no one in this status The bigger value in waiting area the shorter distance motor can run in reverse direction and the speed change is severer It is easier to cause current overload 4 60 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide See the example below The waiting area is set to 0 A Smooth operation cetti Advanced Setting and steady curve DegS 5 Curve Angle 20 DegA Syn Extra Angle 5 ao a0 60 g0 See the example below The waiting area is set to 30 ai a a a a ak a a 4 E S w Trembling speed Advanced Setting n oar and steep curve Degi Waiting Ange RN f 4 pts 22 J 2 2 nb ee denne pete ee geen fees DegS 5 Curve Angle 20 gt BS see eS ee ee ee ee DegA Syn Extra Angle 5 n oO SION 60 go zo 150 10 210 240 270 S007 330 360 A special example If the motor is still overload when the waiting area is set to 0 then it is Suggest to 1 Reduce the speed of master axis printing cylinder 2 Replace by a motor with bigger horsepower After the above setting is all complete users have already created the E Cam curve for intermittent motion The next step is to continue the parameter setting of Step 3 Step 4 and PR mode J
251. ng in reverse direction ORGP ON gt OFF as homing origin X28 Directly define the current position as the origin Before preceding software operation let s have the basic description of the 9 modes that mentioned above E Homing in forward direction and regard PL as homing origin E Homing in reverse direction and regard NL as homing origin These two modes regard positive limit or negative limit as reference point When the limit is detected users can set if Z pulse will be used as origin point Please note that the origin point will not have to be the absolute position 0 ASDA A2 is allowed to setup coordinates offset which means users can specify any coordinate value as the homing origin P5 04 X 0 Homing in forward direction and regard PL as homing origin P5 04 X 1 Homing in reverse direction and regard NL as homing origin P5 04 Y signal setup 0 return to Z 1 forward to Z 2 never find Z July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Limit Ee XI Go forward Ignore Z to search Z Go backward to search Z Y 0 Return to Z Y 1 Ahead to Z Y 2 Do not search Z Z Pulse PL Signal mE Homing in forward direction DIL ORG OFF ON as homing origin mE Homing in reverse direction DI ORG OFF ON as homing origin These two modes regard ORG sensor as reference point Use its rising edge signal as the origin point When the sign
252. ng of 32bit mapping parameters High WordItem P1 44 LowWordItem P1 32hbit os High Word Item P 1 45 Low WordItem P 1 45 32bit After complete the above steps please press change to finish all setting of mapping parameters July 2014 Chapter 2 Basic Operation ASDA Soft User Guide Monitor Parameter Setting Users can select Status Monitor Register parameters from P0 09 to PO 13 via this function Use the drop down list on the right to setup the parameter displayed content from PO 17 to PO 21 See the above example of ASDA A2 lO Moto O Mea 1 Input pulse no of pulse command after the scaling of e gear ratio PUU al 2 Deviation between control command pulse and feedback pulse number PUU pa 3 The number of motor feedback pulse Encoder unit 1 280 000 Pulse rev Input pulse number of pulse command before the scaling of e gear pulse 5 Error pulse number after the scaling of e gear ratio pulse 6 The frequency of pulse command input Kpps 7 Motor speed r min im 59 S curve filter output 76 Speed command of PR contour 81 Synchronous capture axis incremental input pulse 84 Synchronous capture axis deviation pulse number 91 The feedback of indexing coordinate 96 Firmware Version Dec E 98 PLC scan time 109 The amount of data array y i NOTE 1 Please note that after complete the setting of Mapping Parameters July 2014
253. nging P5 57 is varied according to it When the value of P5 57 is the same as the specified value in data array DO4 is on 7 The output signal type of DO4 is set by rising edge or falling edge signal of P5 59 Z 8 The pulse width of output signal can be set in P5 59 CBA Its setting should consider the time interval between two compared data Otherwise the next DO4 cannot be recognized 9 Value of P5 58 will automatically subtract one after each item is compared When P5 58 0 the CMP action is complete and the function is disabled July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide For the control setting of CMP it can be set through P5 59 X U 10 When CMP is complete if Bit 1 of P5 59 X is set P5 58 returns to its initial value and all compared item will be reset 11 When CMP is complete if Bit 2 of P5 59 X is set it enables CAP function 12 When CMP is complete if Bit 3 of P5 59 X is set P5 57 0 In addition two advanced setting functions are provided by P5 59 U Users can have customized setting for application 13 From and including firmware version V1 038 sub09 If Bit 12 of P5 59 U is set when the last point is compared PR 45 will be triggered 14 From and including firmware version V1 038 sub19 If Bit 13 of P5 59 U is set the setting of Compare will follow the setting of Capture E Software Operation The software merely provides the function of parameter setting interface and
254. nit and maintain the accuracy of low speed S_ LOW speed unit 0 0 1r min E 1 0 01r min The setting of acceleration deceleration time uses Acceleration Deceleration Time in speed Time Setting as index ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 July 2014 Chapter July 2014 4 Description of Motion Control ASDA Soft User Guide The setting of target speed uses Internal Target Speed in Speed Time Setting as index SPD Target speed index POVOO 20 0 P5 6t The setting of delay time uses Delay Time in Speed Time Setting as index DLY Delay time index DLYoo 0 P5 40 Please note that without interrupt INS and overlap OVLP command delay time starts when target position is reached If external interrupt is set the setting of delay time is invalid Step 3 Setup E Gear Ratio lf users need to estimate the actual operating distance aiming at different mechanism such as the roller with smaller diameter or different pitch of ball screw it is suggested to modify the moving distance via e gear ratio so as to satisfy the demand Limit of e gear ratio set by ASDA A2 servo drive is Gear A N P1 44 the limit is ES 2 Gear A N E gear ratio Gear B M PI1 45 50 Gear B M E gear ratio enables users to easily modify the proportion of moving distance A big e gear ratio
255. nload parameter file in this area 2 Control Mode Selection Use drop down menu to select the control mode 3 Mode Setting In the selected control mode it lists the setting area of all parameter 4 Function Setting Users can setup related parameter functions July 2014 3 89 ASDA Soft User Guide Chapter 3 Advanced Operation Working Area When complete the setting of control mode buttons in working area can be used to conduct basic operations such as upload or download parameters oo fh a m Save file Users can backup the parameter file of control mode Click the following screen will pop up nee F MEE PERSEA SEER GARL s coat sant ys SE A aN fF HeFSHe 1 Parameter File par Open file Open the saved parameter file and modify the control mode or parameter setting via Parameter Initial Wizard Click iar the following screen will pop Up Hao O am oo ORAH ae PE oi AINE CAELS mE if Fea act BIE C gt Ha EAS HE om fa fe sete TD Parameter File par HGA New edit During the editing if desire to resume the initial status click this button will do The software will clear the current setting and return to the original status Load from servo til If users desire to change the control mode of the connected servo drive use this function Load from servo til to access the cur
256. nnel injury gt In order to prevent any accident please make sure all parameter monitor and tuning function is set to the correct status before trial operation gt When adjusting or testing the servo motor and servo drive by triggering function of the software make sure the technician has to be presence If not make sure all triggering function is stopped to avoid any danger it might occur July 2014 ASDA Soft User Manual Preface About this Manual ASDA Soft servo software introduced in this manual uses version V4 08 as the examples to describe the functional settings including 4 Interface Operation Scope System Analysis Motion Control Alarm Messages Ty Aoza 1 Please refer to ASDA series user manual for detailed description of parameters 2 Please refer to ASDA series user manual for detailed description of system framework and motion control mode 3 Please download the user manual at Delta s website Personnel This book is for personnel who have already purchased ASDA series servo drive or engineers and technicians who use ASDA series servo drive to configure the product In addition in site maintenance and inspection personnel can refer this manual to troubleshoot the problems If you have any enquiry please contact the distributors or DELTA customer service center Safety Precautions Safety precautions and the operating procedures are included in each
257. nstaller for the Windows Pn taller Microsft Corporation mp am tp Launcher P lisialshield Software Gorporatinn al ape ete Win LES Adobe Acrobat Document Sor See Rts Sn 4 Adobe Acrobat Deciuient 096 KB July 2014 1 5 ASDA Soft User Guide Chapter 1 Environment and Software Installation Install ASDA Soft in Windows Vista Windows xXP p b etui Lanncher F itlhel Softyare Corporatio for installing the program 2 InstallationShield Wizard starts to check the system agt yi 4 Un etup i preparing the Installs rie lZar ASDA Solt Y4 06 04 5 i Ing the InstallShield Wizard eee which will guide you through the program setup process Please Poe wal Checking Operating System Version TTT TTT 3 Then the main program starts to prepare the installation Windows Installer A Preparing to install Cancel Welcome to the InstallShield Wizard for ASDA Soft 4 08 04 ASDA Soft 4 08 04 Setup is preparing the InstallShield Wizard which will guide vou through the program setup process Please wait Computing space requirements lt Back Meck gt Cancel 1 6 July 2014 Chapter 1 Environment and Software Installation ASDA Soft User Guide 5 Enter the user name and organization then click fe ASDA Soft 4 08 04 InstallShield Wizard Customer Information Please enter your information User Mame Kevin Tan Organization Dettal Install this applica
258. nternal Register 2 Internal Register3 Command is 0 100 100 100 300 300 300 300 300 300 pT ParaThd Msg 201 Cmd 0 Sy 2014 8105 ASDA Soft User Guide Chapter 3 Advanced Operation 0x03 T Torque Control Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x03 T Torgue control mode 0x00 PT Position control mode 0x01 PR Position control mode 0x07 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A 5 T Speed control mode Torque control mode Step 2 Select Torque control mode T the setting block on the left will show as below Common Setup Torque Mode Setup ane Speed Ti orque Step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DI4 0x17 Torque command selection 1 4Bit1 contacta contactb 3 106 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide There are 43 command selecti
259. ntrol ASDA Soft User Guide When the rising edge signal of EV3 Is triggered PR 56 will be triggered because the third digit of P5 98 is set to 6 And when the falling edge signal of EV3 is triggered since the third digit of P5 99 is set to 9 PR 59 will be triggered too D P5 98 0x0602 P5 99 0x0903 DI 0x39 EV1 0x3A EV2 EV1 EV1 EV3 EV3 OxX3B EV3 or Ox3C EV4 PR 52 PR 53 PR 56 PR 59 However if we use drop down menu of the software to setup users only need to specify the PR of EV1 and EV3 and to complete the setting of DI digital input in Parameter Initial Wizard P5 98 P5 99 External Event ON OFF Setting EV1 Event ON Rez EV2 Event ON Donots sts i si EV3 Event ON PRA o EV4 Event ON Donoting iT EV1 Event OFF Ress EV2 Event OFF Donothing OO EV3 Event OFF PRa59 O EV4 Event OFF Donothins iT Then click Download or use tl to write parameters into the servo drive 3 Homing Setting Here we are going to talk about reference coordinates before introducing homing In general mechanism design such as CNC computer numerical control it usually needs to select one reference point to calculate the coordinates value of each point The reference point is the so called Zero Points If it is in CNC machining application the commonly used reference points are machine reference point homing point work reference point and program reference point That is to say the setting of reference poin
260. ntrol mode Ox0A 5 T Speed control mode Torque control mode 0x06 CANopen Mode O0x0C Reserved 0x00 PT PR Position control mode Ox0E PT PR S OxOF PT July 2014 3 145 ASDA Soft User Guide Chapter 3 Advanced Operation The main screen will be switched to the one as below oe The prompting message in main screen ee Jnana Setup the PR Mode in PR Mode Setup b 7 iF Control Mode is changed Must Reboot Drive to Enable Setting k gt Please setup the PR Mode Parameters in PR Mode Setup form 0x0D PT PR Dual Position Control Mode This control mode is used for multi control mode PT PR S and PT PR T When applying multi mode users can switch external pulse command PT position control and internal position command PR position control via DI signal Step 1 Select the control mode from drop down menu Control Mode Selection P 1 01 0x00 PT PR Position control mode 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A S T Speed control mode Torque control mode 0x06 CANopen Mode 0x0C Reserved 0x00 PT PR Position control mode Step 2 Select dual position control mode The setting block on the left will show as below
261. ntrol mode from drop down menu Control Mode Selection P1 0 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position contral mode Torque contral mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode 0x04 5 T Speed control mode Torque control mode 0x06 CANopen Mode 0x00 PT PR Position control mode OxOE PT PR S Ox0F PT PR T July 2014 3 157 ASDA Soft User Guide Chapter 3 Advanced Operation step 2 Select multi control mode The setting block on the left will show as below PR Mode Setup Torque Mode Setup Internal Speed Torgue Step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 0x02 Alarm Reset Ox22 Reverse inhibit limit DI 0x23 Forward inhibit limit DIS Dx21 Emergency stop There are 43 command selections of digital input Users could directly set it up via the drop down menu 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit 0x 12 Position command selection 1 64 Bit1 Users can set the digital input DI status as a contact frequently open or b contact frequently close 3 158 July 2014
262. o feedback value equals to the command For example when the servo drive issue the command with 10000 PUU users can acquire the feedback value of 10000 PUU after the position is complete When the setting of e gear ratio is done values of command feedback and error July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide will remain which is easy for users to monitor The users view Electronic puu Gear Pulse P1 44 P1 45 The unit inside servo drive Features of PR Mode Setting of ASDA A2 are described as below gt 9 main homing modes and more than 30 combinations as sub items are included gt Users can do constant speed control in soeed mode including acceleration deceleration curve program gt Excellent position control such as position command absolute command relative command incremental command CAP command and etc gt Newly added jump function It can change the sequence of procedure increase the repetition and flexibility of the system o Soe Se 0 BBO GG Sra sew versio sais Speed tame seston u p PS 20 P5 35 Accel Decel Time Moditecdee TO 200 tra 5 20 1 65500 Odey Tess ACOs 300 fms 5 21 1 65500 internal Torget Speed acoz s ms P522 165500 ACS 600 es 5 23 1 65500 ne nome ACD B00 5 24 1 65500 Software LENT ete HN gt o crete peh ACS 200 ms 5 25 1 659500 Decel tne of orotecton R
263. o EJE Aeee PER EASES PO 18 CH2A 8 null 8 127 o SEpSt tacks pene Sono Sea py P8 19 CM3A 8 null 8 127 o EiSi race peer Rg SERS PO 28 CHyA 8 null 8 127 O ip ae TEA reese AS P8 21 CH5A 8 null 8 127 TEEN RAC peer SSA SESS P9 22 8 null 32768 32767 32768 HEZ PG 23 8 null 32768 32767 32768 HE2 PO 24 8 null 32768 32767 32768 HEZ P8 25 MAP4 6x 96600008 null 6x66600000 OGxFFFFFFFF 0x0000OOGO Hk JASH PG 26 MAP2 6x 99600008 null 6x66600000 OxFFFFFFFF 80x00OOOOOO HS 2 Shn2 P8 27 MAP3 6x 90600008 null 6x66600000 OxFFFFFFFF Bx0OOOOOOO Hg Shu3 July 2014 3 69 ASDA Soft User Guide Chapter 3 Advanced Operation Access parameters til When the communication is connected this function can help to access the parameter group of the servo drive and display in parameter list Then a reminder will pop up Delta ASDA Soft Read tram Parameter File OK Write in parameters iil When the communication is connected this function can help to download parameters from the working area into the servo drive Click this function and the following window will pop up ASDA Soft C fa Write Parameters to Driver Write Option f Write All Parameters x Cancel C Write M Group Parameters C Write Non M Group Parameters Only download the The system will compare the default value and the one in working parameter that has been area Then download the one that is different from the de
264. ol for further information INS When this PR is executing it interrupts the previous one ono VES OVLP Overlap the next PR When overlapped disable DLY Please refer to Single Positioning Control for further information OVLP Overlap the next PR When opverlaped disable DLY NO 1 YES DIR Moving direction When setting up the moving direction of index point different application requires different path forward reverse or shortest distance For example for tool magazine in machining application users need to setup the shortest distance so as to rapidly change tools in different situation Please note that the shortest distance is determined by the current and target position There is nothing to do with moving in forward or reverse direction DIR DIR Moving Direction 0 Forward Always move forward 0O 1 Reverse Always move reverse C 2 The shortest distance 4 96 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Backward Shortest Way Indexing Coordinator System Target Current Position Motor Rotating Direction S LOW Select the unit of low speed 0 means the speed unit is 0 1r min 1 means the speed unit is 0 01r min In index position control low speed operation is needed For stable the operation this function enables users to set the unit to the second decimal place so as to control the variation of motor speed in hundredth unit and maintain the accurac
265. ol mode via drop down menu this area will display the setting of this mode See the example below If it is in position PT mode it will display four setting blocks Users will be able to select the parameter through these four blocks July 2014 3 91 ASDA Soft User Guide Chapter 3 Advanced Operation Function Setting Users can setup parameters and functions of each control mode in this page Digital Input DI Setup P2 10 P2 17 DIi Toxo 1 Servo On contact a C contact b DIZ 0x04 Pulse dear r i contacta C contact b DIS 0x 16 Torque command selection 1 4 Bit0 contacta f contact b DI 4 0xi7 Torque command selection i 4Bitl contacta C contact b DIS 0x02 Alarm Reset ka i contacta C contact b DIS 0x22 Reverse inhibit limit ka f contact a f contact b DIF 0x23 Forward inhibit limit C contact a contact b pia 0x21 Emergency stop r C contact a f contact b EDIS 0x00 Disabled contacta C contact b EDI10 0x00 Disabled contacta f contact b EDI11 0x00 Disabled ie contact a f contact b L m ae i Sas eee Mode Setting 3 92 This section describes the screen of parameters setting of each mode which are 15 in total Setup the mode first then setup parameters 0x00 PT etapa 0x01 PR frie Herel FR 0x02 s EEA 0x03 TAREE AUER T 0x04 S R A REE E ee a E 0x05 Te HE Aah ETF ae an 0x06 PTS fer Feels RE eS 0x07 PTT er s
266. om firmware version 1 040 Users can adjust the setting of indexing range salmaaa e Index Coordinates Setting Wizard StartofPRPath 1 0 set the interval between two paths Knife numbers Path Size 10 P2 52 Indexing Coordinates Scale PUU 100000 Knife numbers Path Size INS Interrupt the previous path 0 NO 1 1 YES OVLP Itis allowed to overlap the next PR When overlapping please set DLY to 0 0 NO Pi YES DIR Moving Direction 0 Al forward forward rotation P2 52 Indexing J ways move forward forward ro teamiieisiece rake J L Always move reverse reverse rotation D 2 The shortest distance S_ LOW speed unit 0 0 1r min 1 0 01r min ACC Time Index of accelerating to rated speed 3000rpm ACO0 200 P5 20 v DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 SPD Target speed index POVOO 20 0 P5 66 v DLY Delay time index DLYOO 0 P5 40 v Calculate Electronic Gear Ratio Gear A 1 P1 44 GearB i Bee pi45 Click OK to download all index parameters and P2 52 July 2014 4 71 ASDA Soft User Guide Mode Setting Chapter 4 Description of Motion Control Followings are the introduction and setting method of four setting modes 1 Speed Time Setting Acceleration deceleration time delay time and target speed are the basic setting when setting up PR path ASDA A2 series provide
267. ommand Limit Source P1 09 P 1 11 Din must Select SPDO or SPD1 P1 02 Y torque 0 Disable torque limit function 1 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 3 134 ParaThd Msg 201 Cmd 0 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 0x09 PR T Position Control Mode Torque Control Mode Dual Mode 0x09 is a dual control mode of position and torque which is the same as 0x07 The difference between both is the command source of position control The command source of 0x07 is external pulse signal while 0x09 is internal position command PR Users can select the position command according to different applications Step 1 Select the control mode from drop down menu Control Mode Selection P 1 01 0x09 PR T Position control mode Torque control mode 0x00 PT Position control mode 0x01 PR Position control mode 0x02 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A 5 T Speed control mode Torque control mode Step 2 Select Position control mode Tor
268. on Control ASDA Soft User Guide AUTO 3 OVLP Final destination X DLY__ Absolute commend Cmd_E command V_Command 1 Relative Incremental command Cmd_E previous Cmd_E l DLY 1 gt If 0 this command will be omitted P_Command 2 Moreover the interrupt command also supports external trigger such as event trigger DI POS trigger and P5 07 Trigger PR position command When PR is set with interrupt command INS the command will be executed immediately Different type of interrupt command brings different result ASDA A2 can combine a new command within 1ms when it receives the interrupt command Final destination Absolute command Cmd_E Position Command SPEED Absolute command Cmd_E Fb_PUU Position command Incremental command Cmd_E Previous Cmd_E Position Command High speed capturing command CAP data position command When using external interrupt delay time in the P_ Command 2 TIME 1 PRis in valid P_ Command 1 Final destination Absolute command Cmd_E Position Command Absolute command Cmd_E Fb_PUU Position command Incremental command Cmd_E Previous Cmd_E Position Command High speed capturing command CAP data position command i DLY P Command 2 TIME When using external interrupt AUTO and delay time set in the 1 speed control are invalid V_Command 1 INS When this PR is executing it interrupts the previous one o NO L YES Users can de
269. on can be monitored via P5 86 and can be written in before E Cam engaging Since the moving distance of master axis remains change the value of P5 86 will not change the position of slave axis 2 Clutch Users can setup P787 Engagellead Pulse here Followings describe the setting method PUU Position Slave Condition of engaging reached 0 gt S2 Pulse Lead pul l ii reached in R5 87 The condition UU Uk reached n P5 88 Z is Lead pulse satisfied reached engaging 2 gt 1 When the engaged condition is established the E Cam status will change from stop to pre engaged S0 gt S2 and start to count the pulse number When it reaches the pre engaged amount the status will change to engaged S2 gt S1 4 14 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 P5 87 is working only when the status changes from SO to S2 The so called lead pulse is the delayed pulse number when engaged condition is established P5 87 is the lead pulse at the beginning which is required in first engaged Gear box 1 master axis In gear box 1 users can setup P783 E CAM Cycle Number M and P5 84 Pulse number of master axis P Following describes the E gear ratio setting method of master axis PUU Position al Slave 360 Pulse aa Master P5 84 _ AAO P5 83 D _ 10000 _ 1000000 _ 3 Example1 cle 1 100 St L I _ 10000 _ 1000000
270. on near the origin point This is because motor has to decelerate to stop ASDA A2 servo drive will not automatically command the motor to move back to the exact origin point The initial setting is the stop status 0 Stop means it will not execute the next PR after homing PATH Path Selection Users can use another PR absolute position command to command the motor to move to the specify position or any position of coordinate The coordinate system is built up after homing is complete Please see below If we set the homing mode as Homing in forward direction and regard PL as homing origin Po _ii4 Hominn Mode MM Re A E PEG roe X gt Homing Method X 0 Homing in forward direction and regard PL as homing origin Y gt Signal Setting Y 0 Return to Z pulse m gt Limit Setting The actual position motor stops is 523 in coordinate of absolute position i PR 1 2000 Coordinate after 3000 1000 1000 homing E T 523 E The place the motor 4 E stops after homing l a Y O0 Sf ee a Ce Searching Z 1 EK m zPuse L ___f d o PL Signal i Ti Through the software setting users can command the motor returning to the origin point absolute position 0 The first step is to specify one PR path P6 00 P6 01 Homing Definition PATH Path Selection PR O1 Setup the path of PR 01 Since we simply need the motor to return to the origin point please selec
271. on setting when servo motor and servo drive stops operation for avoiding the malfunction P Vv Wiring gt Power on the servo drive first Then connect the communication cable to the servo drive This is for avoiding the malfunction of the motor gt Please use standard wires and shielded pair wires for communication cable for avoiding signal interference gt The maximum length of software communication cable is 1 5 meters 4 92 feet Otherwise it might attenuate the signal gt Please connect wiring according to the wire rod in order to prevent any danger July 2014 ASDA Soft User Manual Operation gt Before the operation please change the parameter setting value according to the needs If it is not adjusted to the correct setting value it is possible to lead to malfunction of the machine or the operation might out of control gt Before the machine starts to operate please be ensured the emergency stop can be activated anytime gt When applying monitor function of Scope and System Analysis please make sure the communication cable is correctly connected Any loose or fall off might influence the monitoring data WARNING gt When applying function of Auto Gain Tuning do not touch the motor shaft by hand or any hard object gt Itis strongly recommended that during operation do not remove the communication cable It would cause the damage of the equipments and lead to the perso
272. ons of digital input Users could directly set it up via the drop down menu m ha x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit0 0x12 Position command selection 1 64 Bit1 Users can set the digital input DI status as a contact frequently open or b contact frequently close DI1 Ox01 Servo On Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command Digital Output DO Setup P2 18 P2 22 July 2014 3 107 ASDA Soft User Guide drop down menu 0x0 1 Servo ready Ox02 Serve On 0x03 At Zero speed Ow04 At reached 0x05 At Positioning completed 0x06 At Torques limit 0x07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0x10 Output overload warning O0x11 Servo warning activated 0x12 Position command overflow Chapter 3 Advanced Operation There are 35 command selections of digital output Users could directly set it up via the Users can set the digital output DO status as a contact frequently
273. ontrol Operating method a Select the range that desire to modify Please note that the max value has to be set within the allowable range From 0 To 10 b Select one way to adjust E Cam data Ascend Descend Y af _ Copy Exchange m Ascend amp Descend modify the start value first then setup the desired ascending or descending value Start Value 5 Ascend 1 4 Pid Descend Na eni i Peene 1 Setup starting 2 HED setup the value first a E eeelic vaUe ee Exchange Interval points 1 lf the setting requires striding the E Cam points Interval Points can be used to change the position For example Set start value and ascending value first Then set Interval Points to 1 Quick Input Edit co E Quick Input Editor From 0 To 10 Start Value 5 Ascend 2 0 Descend i i Fo E EN D Copy Exchange Interval points 1 Don t dose continue the next operation 4 8 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide The setting of E Cam table will show as below Fa 157 5 9 270 12 13 14 15 16 17 112 5 5 180 11 135 7 nnnnnnnnennnnsnnnnnnnsnnsned lf change the ascending value to 1 set Interval Value to 2 Quick Input Editor From 5 To 10 Start Value 5 Ascend i C Descend i 3 F t Copy Exchange Interval points 2 The setting will
274. ontrol is not properly closed it might pose danger WARNING JOG lf the positioning point is not within the range which specified by the encoder then users can use simulated handwheel to adjust coordinates position through software communication Jog Jog Speed 100 rpm e gt Direction In Forced Srv ON Followings are the operation steps Step 1 Setup JOG speed Users could set the motor speed as the JOG speed Step 2 If it needs to change the motor s moving direction clic rpm k Direction Im will do Step 3 Check Forced Srv ON ig control Step 4 Use _ ___ ___ to control motor s moving direction WARNING 3 48 The position control is operated by JOG control Please follow the instructions below 1 Make sure the hardware switch or the DO signal of emergency stop can work Digital inputs and outputs can be used for testing 2 Make sure the communication is normally connected Communication breakdown might cause abnormal operation of the motor 3 During the auto operation press the emergency stop button or issue the command to stop the motor if there is any abnormality July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 3 4 System Analysis Users learn to adjust the parameter via system analysis The analysis tool Bode Plot assist users Know more about system s stability and the related information of resonance frequency system analysis is an advanced an
275. ooonoon 110 o10 _ o00000000 111 o11 ooooooc majore oo 113 013 jooo006ss3 114 o14 ooooooc 115 015 116 o16 1i7 o17 118 018 119 o19 July 2014 4 123 ASDA Soft User Guide Chapter 4 Description of Motion Control Please click i Write CMP Data to Servo to write new data value into the servo drive gt Compare control setting It is used to setup CMP control Please refer to the previous section Parameter setting and operation testing procedure for other related settings Compare CMP Parameters P5 56 Start address of CMP data array 100 O 799 P5 57 Compare axle position 0 P5 58 Compare Amount 20 20 P5 59 Compare Enable Control P5 59 Compare Options drafter comparing the last point restart from the ist point 2 after comparing the last point enable CAP function P5 59 CBA Output pulse E 3 after comparing the last point set P5 57 0 100 14095 P5 59 Y axis source C O Capture axis O 2 Pulse Command 1 Auxiliary encoder 3 Main encoder P5 59 Z Trigger logic O NO 1 NC P5 59 U Trigger PR command 12 it will trigger PR command 45 after after the last position is compared E erate ovine op wiccersonees E oeoa E Compare options When select mparing the last point enable CAP function if CAP has already enabled this function will be invalid P5 59 Compare Options d after comparing the last point restart from the 1st po
276. op I gain 250 P2 26 External Noise Reject 250 Senn ae a setup the inertia ratio of the servo drive After tuning value will be all tia 4 ees displayed in this column July 2014 3 35 ASDA Soft User Guide Chapter 3 Advanced Operation Window for setting each gain value Compute Read from Device R T 5 a Calculation g In Drive P1 3 Load Inertia Ratio 4 0 iw 0 ltimes 0 0 P2 00 Position Loop P gain 157 W AT P2 02 Position Feedforward 50 Iw 0 P2 04 Speed Loop P gain 628 a 183 P2 06 Speed Loop gain 100 a 30 P2 25 OSC Reject filter 16 iw 0 limes 55 P2 26 External Noise Reject 100 Ca 30 P2 49 Speed Detection Filter and Jitter Suppres OF 800 Wi gee 0F 300 Bandwidth Hz max 1023 100 30 When all parameter setting is complete click this to compute the gain value R This button can be used to read ead from Device parameters from the servo drive ji g E 5 0 aiii Click Compute_ the computing result will show in this area x P1 37 Load Inertia Ratio P2 00 Position Loop P gain P2 02 Position Feedforward P2 04 Speed Loop F gain P 06 Speed Loop I gain In addition users can determine if the modified parameters will be downloaded into the servo drive The P2 29 OSC Reject filter check box highlighted in red means P2 26 External Noise Reject users can select or cancel all P2 49 Speed Detection Filter and Jitter Suppres B0 pa
277. open or b contact frequently close Common Setup Rotaion Direction Selection P 1 01 Forward CCW Reverse CW C Forwrd CW Reverse CCW Pulse Output Polarity Bete eRe oma Po CTC eee Output Polarity 0 MON1 MON2 4 Forward Output 4 MON1 MON2 kij jaiii aisg a si C 2 MON1 MON2 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 MeTi fo 0 1000 ms MBT2 fo 1000 1000 ms DOn must Select B MBTI P 1 42 MBT2 PI 43 ween 1 38 2500 Pulse rev 20 320000 Regenerative Resistor Setting P 1 52 P 1 53 751 Q 5 751 3002 w 0 3001 Max Motor Speed P 1 55 e001 RPM 10 6001 3 108 ParaThd Msg 201 Cmd 0 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 7 When the setting of Common Setup is complete the next step is Torque Mode Setup The screen on the right will be switched to the one as below a EELS Se Parameter Initial Wizard cr fa ena E Control Mode Selection P 1 01 gt ox03 T Torque control mode E SA ise ecane Wat et CTs Ea 0x01 PR Mode i Analog Torque Command Filter P 1 07 YES fo ms NO Max Analog Torque Commmand P 1 41 100 10V I 0 1000 4 eh
278. or analog output polarity Forward Output Reverse Output C 3 MON1C MON2 Delay of Brake Selection P 1 42 P 1 43 meTi fo 0 1000 ms meT2 fo 1000 1000 ms MBI Pl 43 very P1 38 Max Motor Speed P 1 55 6001 RPM 10 6001 4 BERR eee y ParaThd Msg 201 Cmd 0 July 2014 3 117 ASDA Soft User Guide Chapter 3 Advanced Operation Step 7 When the setting of Common Setup is complete the next step is Torque Mode Setup T TParameter Initial Wizard Baeaeaqddo amp Control Mode Selection P 1 01 0x05 Tz Zero torque internal torque command X PECOS E Must Reboot Drive to Enable Setting x BHRHRHBRHERHEHEHERHEHEHEHEHREHEHRHEHEHRHEHEEE eS F Y Torque Mode Parameter Setup Analog Torque Command Filter P 1 07 YES fo ms 0 1000 i NO Max Analog Torque Commmand P 1 41 200 10V EM 0 1000 k ai ParaThd Msg 201 Cmd 0 Z Step 8 If users desire to setup speed or torque limit click the fourth block Internal Speed Torque 3 118 July 2014 Chapter 3 Advanced Operation The screen on the right will be switched to the one as below Spey ey Spa yaa ic ic e oe dao Control Mode Selection P 1 0 1 0x05 Tz Zero torque internal torque command oe Mode is changed Must Reboot Drive to Enable Setting 0
279. or one field please select Move Action Move Copy Swap Then set up the start position O 000 and end position 5 005 Source Start U End 3 And set 1 as offset amount 1 To move down one field please click Y when the setting is complete Then position 0 to 5 is moved down for a field in the data array table And the original position 000 is replaced by a new value 0000000000 4 130 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 opoggogoog New value 001 ddg 00 i pga oo00000002 0s o000000003 mos Joooo000004 T posje o000000005 T ee Move down the group gt Copy Assume the setting value of position 000 to position 005 in data array is as below ooo joooo000001 00i jooooooo002 002 jooooo00003 003 jooooo00004 oo4 joooo000005 005 lf users desire to copy position 010 015 please select Copy first Action Move Copy Swap Setup the copy source from position 0 000 5 005 Source Start U End 3 Then setup the target position 10 010 15 015 Destnaton Start 10 End 15 to complete the setting You can see position 0 to 5 has been copied to position 10 to 15 4 131 ASDA Soft User Guide 4 132 gt Swap Chapter 4 Description of Motion Control Position 0 to 5 OOO0000004 OOOOO00005 oos yoooooo0006 006 OOOOO00000 007 0000000
280. ork When using COMPARE in order to avoid DO error the system will force to disable DO function which means the setting will be P2 21 0x0100 automatically Since the value is not written into EEPROM P2 21 will return 4 106 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide to the default value after re power on Output Method Pulse output can select contact A B It is capable to continuously output more than one point Itcan set the pulse output time Data Storage Position Data array The start address is set by P5 56 Compare Number itis set via P5 58 and will not exceed the limit of data array Compare Format 32 bit It has positive and negative Compare Condition it will be triggered when the source of compare axis pass through the compare value Auxiliary Selection Cycle mode When comparing to the last point it automatically returns to the first point and starts to compare When the last compare is completed the CAPTURE function is activated automatically If P5 58 is set to 0 set the value of P5 59 X Bito to1 will be unable to compare Set the value of P5 59 X Bito to 0 Since the capture axis is 32 bit wide the accumulation will cause overflow Please avoid this July 2014 4 107 ASDA Soft User Guide Diagram of COMPARE Chapter 4 Description of Motion Control Data Array The 1st point saved in P5 56 CMP axis P5 57 CMP signal DO4
281. ovided here is 8k Hz Users can use the function of High Baud Rate which is on the right of the window for higher speed of communication enhance the resolution to monitor the detailed movement High speed monitor ox O High speed mon IFFT Displa h Y te h E Show RMS Value a on Ke 16K lts initial setting is 8k Hz if check 16k Hz channel 2 and 4 will be closed automatically This is because the system has to share the bandwidth to channel 1 and 3 i RETSARAERNFFT 1999 988 3999 975 5999 963 7999 950 9999 938 11999 925 13999 913 15999 900 17993 8 19999 875 Hez im M BTR BEA RMS SK 16K CCH 10x Norm Ea ICHA IDX Norm 32 bit ee Position PUU Motor speed Real time r min E Data a Rel val lf users apply zoom in function the zoom in area will be different from the one when in full screen me ee q m If the capturing coordinate is within A this range use 8K Hz might be ae unable to view the data in detail 4777 July 2014 3 23 ASDA Soft User Guide Chapter 3 Advanced Operation The resolution is better with the width of 16K Hz users can also magnify the wave for viewing step 3 etait to capture the waveform the waveform egRo HHOOOO ae oF samia Eso S SDA A2 ASDA AZR ASDA S TR REUE MIINE SAFER FEIRET C BRRHRHEE pE iE f Hi F et oc t Cc Cc aktsia ABBR OT j
282. pen or b contact frequently close Position Mode Setup Internal Spee d Torque July 2014 Chapter 3 Advanced Operation The screen on the right will be switched to the one as below ECOC 2 ASDA Soft User Guide Common Setup 0x01 PR Mode 0x02 Mode _ 0x03 T Mode 0x04 Ee I 0x05 TzMode 0x06 PT S Mode 10x07 PT T Mode 0x08 PR S Mode 0x09 PR T Mode a 0x0A S T Mode _ 0x0C Reserved _ ee a Ra Mode _ 0x0E PT PR S Mode Nl L0x0F PT PR T Mode M Rotaion Direction Selection P 1 01 Forward CCW Reverse CW Forwrd CW Reverse CCW Pulse Output Polarity Setting P 1 03 st ete tk 0 MON1 MON2 Forward Output C 4 MON1 4 MON2 2 MON1 MON2 3 MON1 MON2 Reverse Output X Monitor analog output polarity Delay of Brake Selection P 1 42 P 1 43 Mati fo 0 1000 ms MBT2 jo 1000 1000 ms MBTI P 1 42 MBT2 PL 43 Encoder Output Pulse Number P 1 46 2500 Pulse rev 20 320000 Regenerative Resistor Setting P 1 52 P 1 53 751 Q 5 751 3001 w 0 3001 Max Motor Speed P 1 55 6001 RPM 10 6001 Analog Torque Command Filter P 1 07 C YES fo ms f NO Max Analog Torque Commmand P 1 41 i00 10v 7 0 1000 ee ee os oo oo ParaThd Msg
283. perates at constant soeed on E Cam curve The slave axis is composed of acceleration area constant speed area and deceleration area It is because the integral of speed curve is the traveling distance The max speed of slave axis is the operation speed of master axis Thus master axis travels longer distance than slave axis in one cycle 4 23 Chapter 4 Description of Motion Control 0 a0 60 a0 0 150 180 210 240 270 300 330 360 The following three figures illustrate the moving distance of master axis and slave axis as well as the constant speed area master axis travels longer distance than slave axis in one cycle f 4 24 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide System setup Figure below is the specification of material feeding axis Introduction of creating E Cam curve via software will be illustrated here Setting of Slave Axis The traveling distance is 200 mm and the pitch for ball screw is 10 mm P1 44 128 P1 45 10 100000 PUU for one revolution 200 mm 10mm 20 turns for the whole traveling distance 100000 PUU 20 2000000 PUU command for the whole traveling distance 100000 PUU 10 mm 10000 PUU mm Setting of Master Axis MN suuuuUL Encoder Pulse 52 pulse mm The distance of master will be greater than 200 mm 200 52 10400 pulse Step
284. played here 0 00 3 3 3 lt i el A tb o Ka 2 g viv ojo A 0 SJS AAAA SSR Els AE PkebEbkkkkEkERE EEE bP thas MAP 1 1 046 0x0000 300 0x0000 0x00000000 0x00000000 0x00000000 0x00000000 0 2147483648 2147483648 2147483648 2147483648 2147483648 32768 32768 32768 0 0 0 0 0 32768 32768 32768 Max Default Description 1 046 1 046 Firmware Version OxFFFF 0x0000 Drive Fault Code 127 1 Drive Status 0x0077 0x0000 Analog Monitor Output Ox20FFFFFF 0x00000000 Reserved Ox20FFFFFF 0x00000000 Reserved Ox20FFFFFF 0x00000000 Reserved 0x20FFFFFF 0x00000000 Reserved 65535 0 Servo Startup Time 2147483647 0 Status Monitor 1 2147483647 0 Status Monitor 2 2147483647 0 Status Monitor 3 2147483647 0 Status Monitor 4 2147483647 0 Status Monitor 5 32767 0 Reserved 32767 0 Reserved 32767 0 Reserved 127 0 Display Status Monitor 1 127 0 Display Status Monitor 2 127 0 Display Status Monitor 3 127 0 Display Status Monitor 4 127 0 Display Status Monitor 5 32767 0 Reserved 32767 0 Reserved 32767 0 Reserved il 0x00000000 Paramenter Mapping 1 3 77 ASDA Soft User Guide Chapter 3 Advanced Operation a The first section in the upper left corner will show the current firmware version See the example below the current firmware version is V1 046 Po xx pi xx p2 xx PO 19 v 1 046 Po 01 PO 02 PO 05 PO 10 PO 11 Po 13 po 15 3
285. ple Check Enable Stop Condition channel below can be setup Condition Fine Tuning Properties Stop Condition Enable Stop Condition Channel Operation CH1 a gt CH2 E CH3 z CH4 lt Stop Value 0 Condition satisfied last 20000 ms Select the channel e g channel 1 from the above example then setup the operation Users can specify the status of each channel when stop capturing waveform by following methods setup Stop Value Users can setup the value to stop capturing waveform Setup Operation Users can use Stop Value as the condition then see if the value is bigger equal or equal orsmaller equal to stop waveform capturing Finally setup Condition satisfied last With this function the stop command will be issued after the delay time July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 2 Channel Setting Take ASDA A2 series servo drive as the example 4 groups of channel are supported IDX Norme v 32bit EEE 2 ee 2H i PAR Parar v 32bit J CH3 vAR varial 32bit J CHA vAR varial 32 bit enm mo E 268435463 OOOO Users can refer to the previous chapter Channel Setting for the setting method of channel The setting of different command input and parameter size 16 bit or 32 bit must be accurate Or the captured waveform will be incorrect Special function The channel width pr
286. plete Two modes that mentioned above are position control mode The difference is that the motor stops after PR is complete in Single positioning control until the next PR command is triggered In Auto positioning control mode it automatically moves to next PR when current PR command is complete See the main setting page that shown below July 2014 4 87 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 88 OPT options INS When this PR is executing it interrupts the previous one ono IES OVLP Overlap the next PR When opverlaped disable DLY TNO 1YES CMD End of position command 00 ABS Absolute Position CMD DATA 01 REL Relative Position CMD Current Position DATA 10 INC Incremental Position CMD Previous CMD DATA 11 CAP Capture in high speed CMD Captured DATA Speed Time Setting ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 Time 1 333 ms DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 Time 1 333 ms SPD Target speed index POVOO 20 0 P5 60 ka E x 1 BLY Delay time index DLYoo 0 P5 40 Position CMD DATA PUL 0 2147483648 2147483647 OPT options n position control 3 parameters are available for selection INS When this PR is executing it interrupts the previous PR Use the internal or external interruption via DI POS to specify the path or
287. plete It means the deceleration distance is 300 100 200 PUU Since Cmd_E 100 the absolute coordinate of Z if desire to return to Z issue the positioning command will do either absolute command 100 or incremental command 0 Users can execute the specified procedure after homing After homing it will move for a distance of offset When executing homing function of software limit is disabled With the excellent function of PR mode ASDA A2 series servo drive provides 9 main homing modes Homing in forward direction and regard PL as homing origin Homing in reverse direction and regard NL as homing origin Homing in forward direction DI ORG OFF ON as homing origin Homing in reverse direction DILORG OFF ON as homing origin Look for Z in forward direction and regard it as homing origin Look for Z in reverse direction and regard it as homing origin Homing in forward direction DILORG ON OFF as homing origin Homing in reverse direction DILORG ON OFF as homing origin Directly define the current position as the origin X 1 tana in reverse direction and regard NL as ay origin X 2 Homing in forward direction ORGP OFF gt ON as homi igi X 3 Homing in reverse direction ORGP OFF gt ON as homing origin X Look for Z in forwad direction and regard it pty eae origin X 5 Look for Z in reverse direction and regard it as homing origin X 6 Homing in forward direction ORGP ON gt OFF as homing origin X 7 Homi
288. plications that require the instant position record and compare positions such as dynamic mark tracking or visual inspection which needs continuous trigger Usually using software communication to read write cannot satisfy the demand of immediacy applications They all trigger and capture data by hardware directly Digital input DI7 and digital output D04 are provided for specific specifications in ASDA A2 5us of high speed analog signal is used to capture and compare data The concept of CAPTURE is to capture the position of motion axis instantaneously by using the external trigger signal DI7 Then save it in data array so as to be used for motion control afterwards Since CAPTURE is finished by hardware there is no problem of software delay It also can accurately capture the high speed motion axis The CAPTURE features provided by ASDA A2 servo drive is as follows CAPTURE Features _ Pulse Source Main encoder of the motor Auxiliary encoder linear scale Pulse command The selected axis will be displayed in P5 37 the default value can be written in before capture Note When the source of COMPARE is CAP axis the CAP source cannot be changed Trigger Signal Triggered by DI7 the response time is 5 usec Note DI7 directly connects to CAPTURE hardware Thus regardless the setting value of P2 16 DI Code CAPTURE can work When using CAPTURE in order to avoid DI error system will for
289. que control mode the setting block on the left will show as below Position Mode Setup PR Mode Setup Torque Mode Setup Internal Speed Torque Step 3 Click DI O Setup the following screen pops up Digital Input DI Setup P2 10 P2 17 DIL 0x0 i Servo On i contacta C contact b Di2 fox04 Pulse dear contacta C contactb DIS 0x16 Torque command selection 1 4 Bit0 contacta f contact b DI4 0x17 Torque command selection 1 4 Biti contacta C contact b DIS 0x02 Alarm Reset contacta C contactb DIG Ox22 Reverse inhibit limit f contact a f contact b DI 0 23 Forward inhibit limit contacta f contact b DIS Ox21 Emergency stop contacta f contact b July 2014 3 135 ASDA Soft User Guide Chapter 3 Advanced Operation There are 43 command selections of digital input Users could directly set it up via the drop down menu 0xc03 Gain switching 0x04 Pulse dear 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x10 Speed limit enabled 0x11 Position command selection 1 64 Bit 0x12 Position command selection 1 64 Biti Users can set the digital input DI status as a contact frequently open or b contact frequently close DI1 0x0 1 Servo On Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41
290. r Step 7 Follow the way from above figure to setup parameter resonance suppression Then click 7 7 to download the parameter into the servo drive Step 8 Repeat the steps from step 1 to 7 and watch the change of frequency domain until the resonance has been suppressed Conduct FFT analysis with the normal frequency domain Users shall acquire the following waveform FFT 16364 Fis Others E Number on title bar FFT 16384 PTs represents the data number within the selected range Bigger number means better resolution Please keep the number over 512 points m The spectrum figure can be saved as BMP file Right click the mouse when the cursor is on FFT Display A pop up function list will appear Please click TREMP ENS bmp E then select the file name will do 3 32 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 3 2 roy July 2014 Auto Gain Tuning Users can auto adjust the gain value of control loop via Auto Gain Tuning provided by ASDA Soft Followings are its main features gt Fill in the data of bandwidth inertia ratio and rigid holding to compute the gain value Then the value will be downloaded into the servo drive for testing gt Through the motor speed and travelling distance distance between two points users can estimate the inertia during operation Use the average inertia value to compute the relative gain value of control loop gt Manually enter all relat
291. r Click the E Sen elas il be ue ug a points 0 afr 0 et 22 5 45 67 5 90 112 5 135 157 5 180 202 5 225 247 5 270 292 5 315 337 5 360 PostonY 3 2 3 4 5 6 7 8 3 10 11 12 13 14 15 16 17 July 2014 4 6 Chapter 4 Description of Motion Control ASDA Soft User Guide Then input the length from the center of the circle to periphery into the table 0 22 3 45 67 5 90 112 5 135 157 5 180 202 5 225 247 5 270 292 5 315 337 5 360 45564 40074 44577 79722 99297 96692 84584 64623 46510 42344 47705 63713 83046 95296 88287 64532 Anne Annee nnnnnnnnnnnnnennen Here provides a tool for quick setting Right click on the table a quick setting window will pop up T j T Quick Input Edit 112 5 135 157 5 180 202 5 99297 96692 84584 64623 46510 Insert one Quick Input Edit Delete one aes one j o gt coe Import points Import points E Export points Export pol nts This enables users to edit E Cam table in a very quick and easy way For example users can copy one same section of E Cam curve or insert delete one point in E Cam curve that just created Quick Input Edit The following window pops up when click Quick Input Edit F mar Quick Input Editor From 0 To 10 Start Value 5 Ascend 1 0 Descend i Cc ej Copy gt Exchange Interval points 1 F Don t dose continue the next operation s July 2014 4 7 ASDA Soft User Guide Chapter 4 Description of Motion C
292. r Users can setup the basic function of system analysis 2 Resonance frequency Three groups of resonance frequency dB value and frequency point will show in this section 3 Gain value When the system analysis is complete the internal gain value of the servo drive will be uploaded to this column Column A and B is for comparing the old and updated value 4 Window of Bode Plot Data after systemic analysis will be shown in these two sections Purple for Gain blue for Phase 5 Instant message When moving the mouse around the curve in Bold Plot the following two columns A Line color pink and B Line color yellow will show the instant value Toolbar a open dit file Open the saved file for analysis dit is the filename extension Lyre a ERAT dit TAD s cP EB S9 PEL AMIER CJE E om HETA re FELSEA v j TAT g7 EL Save as dit file Data in A Line or B Line can be saved as dit file Click the icon a message window will pop up July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide ASDA Soft C RIFB Line Cancel BERD B am eect Ls EDA SCE AeA ASD FTP E de Google EIRTER TT GoW ASDA toft Fite GOPE EtherNET IP CIP a a emmy far BE C ia Show all data in screen This function can recover the Bode Plot to the initial captured screen When adjusting a section of curve ddoe can display
293. r axis When the incremental pulse from master axis is P the axis rotates M cycle P5 83 M P5 84 P A2L does not support E Cam function Position of E Cam The position of E Cam slave axis 3 14 July 2014 The position of E Cam axis Chapter 3 Advanced Operation ASDA Soft User Guide Code Name of Variables Descriptions Attribute 3Fh A2L does not support E Cam function 064 Terminal register of PR In PR mode the termination of position command 065 Output register of PR In PR mode the accumulative output of position 41h command command 067 The target speed of path command in PR mode The PR target speed 43h unit is PPS Pulse Per Second The input command of S curve filter which is used to 068 S curve filter input smooth the input command 44h It is effective in PR mode E Cam and speed command A2L does not support E Cam function The output command of S curve filter which is used to ye S curve filter output smooth the output command 45h It is effective in PR mode E Cam and speed commana A2L does not support E Cam function In PR mode the programmed trapezoid speed curve is determined by the target speed acceleration 076 Speed command of PR 4Ch contour deceleration and moving distance before S curve filter The unit is PPS Pulse Per Second 081 Synchronous capture When synchronous capture axis is enabled the 51h axis received pulse number between two captures can b
294. r curve created by software For example when cutting length A is much shorter than the required moving distance a it is unable to increase E Cam speed to meet the requirement of short cutting length If value of R is too small it usually needs to conquer the problem by modifying the mechanism July 2014 4 55 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 56 A Cutting length a a The moving distance of R length ratio A a W O sealing zone R 03 3 slave axis when cutting W T sealing zone NS R 0 07 25 macro 6 Adjustable sealing zone 1 88 gt R x speed compensation macro 7 Users shall complete the mechanical value which is the same as Rotary shear W O sealing zone Then proceed setting of Step 3 and 4 Please refer to the detailed description of Manually create a table in previous section Rotary shear Printer machine Here comes the operational principles The relation between printing axis and material feeding axis is shown as below Each printing axis does not connect to ball screw but operates individually Due to the printing length limit it cannot do full printing The printing axis operates at constant speed and same direction When the printing plate reaches the paper graph A the speed of paper and printing plate is the same and both are in the same direction graph B When printing is complete paper and printing plate separate graph C Then paper dece
295. r each item is captured When P5 38 is 0 the CAP function is disabled which means the CAP amount is met 11 When CAP is complete if Bits of P5 39 X is set the servo will call PR 50 E Software Operation The software provides setting interface and the function to test actions A complete CAP setting has to be with PR setting host controller and triggering switch Following is the setting window of Capture CAP Data Array Capt CAP P OOO G00 ooo0000000 P5 36 Capture Arrary start address 0 0 799 PS 37 Capture axle position 0 P5 38 Capture Amount 1 1 P5 39 Capture Enable Control P5 39 X Capture Options E 1 while capturing the ist point set CAP axis as P5 76 90 2 while capturing the 1st point enable CMP function 3 while capturing is complete trigger PR 50 P5 39 Y axis source O Capture Disable 2 Pulse CMD 1 Auxiliary Encoder 0 3 Main Encoder P5 39 Z Trigger logic O NO E 1 NC P5 39 U Trigger time interval 2 0 15ms Pent one opin se The left window displays the current list and value of each data array Here is the brief introduction Capture Compare Data Array Editor Title Bar Position number of data array Value in data array CAP amount number Lael 0000000000 0000000000 During the test process users can click o Update to update the value in data array if needed July 2014 oo n ASDA Soft User Guide Chapter
296. rame are all smoothly connected Position curve Speed curve 0 150 180 210 440 270 300 330 360 Adjust the curve from the second to third point as linear Users can see the speed curve between two points becomes linear which causes dramatic change sat Gel eds esa Position curve ie ote me Speed curve 0 207 150 1607 210 240 A70 300 330 360s 4 38 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Assume the user needs to insert or delete points users can directly edit on simulated curve by right clicking the mouse select Insert and the software will add one point around the curve Since both position and degree of this new point are 0 users have to manually enter these two values and re program the curve type to create new points Cubic Curve Sketch E CAMTabl 100000 New point In addition the departure theta out and arrival theta in angle can be defined Aiming to different type of curve there are different settings For constant line the departure and arrival angle are non applicable Curve T N ta gN ta eae NA NA For constant acceleration only the departure angle can be specified Curve T N ta qN ta 90 NA For cubic curve both departure and arrival angle can be set Curve Type Ni Theta Na Theta 1 390 270 For the smooth operation both departure and arrival angle are necessary to create an E Cam curve July 2
297. rameter 4 4 4 4 4 4 Bandwidth Hz max 1023 Click Read from Device the gain value of the servo drive will be uploaded to this window 3 36 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Users can use these two buttons to upload and download the parameter lt lt Upload the parameter from servo drive to ETET m After computing download the parameter to EMITE Setup three parameters of resonance suppression Use FFT to analysis the resonance position and value users can setup three parameters of resonance suppression here ele gt 1000 v Hz 50 1000 1000 O v dB 0 32 0 1000 w 0 Iv 1000 w 0 fv Setup resonance suppression mode from drop down menu P2 47 provides three methods When the value of P2 47 is set to 0 Users can manually setup three parameters of resonance suppression When the value of P2 47 is set to 1 Auto resonance suppression When the system is stable the value will return to 0 automatically and the system will store the resonance suppression point if not it will re estimate when re power on or when the value is 1 When the value of P2 47 is set to 2 Continuous July 2014 3 3 ASDA Soft User Guide Chapter 3 Advanced Operation adjustment When the system is stable it will store the resonance suppression point if not it will re estimate when re power on Users can setup three parameters via P2 47 that 1
298. rent setting value and change the setting Download to servo ill When complete the new setting of control mode use Download to servo tl to download the related parameter into the servo drive Please re power on the servo drive after downloading 3 90 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide parameters into the servo to activate the new control mode Description Click to open the operation description Stop operation SL If desire to stop operation click S will do Control Mode Selection Setup the control mode from drop down menu P1 01 represents Control Mode Selection thus the drop down menu will list all mode that can be set in P1 01 Control Mode Selecion P10 D 0x06 PT S Position control mode Speed control mode f Control Mode is changed Must Rebo 0x00 PT Position control mode 0x01 PR Position control mode F 0x02 S Speed control mode 0x03 T Torgue control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode Ox0A S T Speed control mode Torque control mode Ba im NOUE Re power on the servo drive to complete the setting when change the control mode Mode Setting Select the contr
299. rm occurs please turn off the servo and troubleshoot the problem And use Alarm Reset to resume the servo drive gt oiid Some alarms cannot be cleared via reset button Users have to re power on the servo drive Please refer to the user manual for detailed description about alarms step 4 Setup motor operation distance It is suggested to start from left limit to right limit Users also can setup the specified section The setting of positioning point is similar to the setting of hand wheel or JOG position Users could use the direction key of JOG to adjust motor s moving direction ee Direction key could move the motor to the positioning point Then use Position 1 and Position 2 to setup Value in blue mark represents Current Position Users can access the actual feedback position of the motor Pe Nhe user unit Tie 469394 ne im SEACHEN 0 ms Start Time Interval can be used to operate the motor after some delayed time when each section is complete Please note that the position control is operated by JOG control of the servo drive Followings are the situation users should bear in mind iii 1 Pease make sure the hardware switch of emergency stop or the July 2014 2 44 ASDA Soft User Guide Chapter 3 Advanced Operation controller s DO signal can work Function of digital I O can be used for testing 2 Please make sure the software connection is successfully built If the communication is breakdo
300. rque Command Limit Pi 15 sme 0000 Ox 1F SF 0x0000 CAPTURE SYNC AXIS Thr P1 16 ies 32768 32767 0 CAPTURE SYNC AXIS Offi P1 17 ms 20 000 20 000 0 000 Tracking Error Compensatic ms P1 18 ms 20 000 20 000 0 000 Electronoic Cam E Cam Pt i0ms P1 19 0x0000 0x0101 0x0000 CAPTURE COMPARE Ad l P1 20 0 100000000 0 CAPTURE Masking Range p ir min P1 21 oO Kps 0 30000 0 Electronoic Cam E Cam Pt t P1 22 0x0000 0x 107F 0x0000 PR Special Filter Settings 0 1r imin P1 23 10000000 10000000 0 Compare data offset Value P1 24 aa 32768 32767 0 COMPARE Compare data 0 ir fmin P1 25 VSF1 10 1000 1000 Vibration Supression Freque h The 11 12 and 13 row represents the minimum the maximum and default value respectively Users can confirm if the setting value is within the allowable range vio code vae unit flMin Max Default Description z i P1 00 A PTT i 0x0000 0x1142 0x0002 External Pulse Input Type Min Max Defaul t P1 01 e CTL 0x0000 0x111F 0x0000 Control Mode and Output C j mes nee P1 02 PSTL 0x0000 0x0011 0x0000 l Speed and Torque Limit Set 0x0000 Ox1142 Ox0002 Pi 03 AOUT 0x0000 0x0013 0x0000 Pulse Output Polarity Settir ji ii i a Pi 04 MON1 10 i 0 100 100 l Analog Monitor Output Prop Ox0000 0x111F Ox0000 P1 05 mon2 ho 0 100 100 Analog Monitor Output Prop yee ear aes P1 06 SFLT a m 0 1000 0 Accel Decel Smooth Const Ox0000 Ox0011 Ox0000 P1
301. rque limit click the sixth block Internal Speed Torque The screen on the right will be switched to the one as below nig Bosaad o g 0x00 PT Mode 0x01 PR Mode f0x02 S Mode 0x03 T Mode ea I v Speed Torque Limit Setup 0x05 Tz Mode P4 02 X speed limit 0x06 PT S Mode Jif 0 Disable speed limit function m 1 Enable speed limit function only for T mode speed Command Limit Source P1 09 P 1 11 Din must Select SPDO or SPD1 P 1 02 Y torque limit 0 Disable torque limit function C 4 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 jio C lansing ie SR renin a _ 0x0F PT PR T Mode Ifa ParaThd Msg 201 Cmd 0 7 0x0A S T Speed Control Mode Torque Control Mode Dual Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x0A S T Speed control mode Torque control mode 0x00 PT Position control mode 0x01 PR Position control mode 0x02 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal spee 0x05 Tz Zero torque internal torque command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque contral mode 0x08 nl ls contral mode Speed control mode 0x09 PR T Position control mode
302. rtition off the data array into the individual space of CAP CMP and E Cam The user could program it according to the demand Therefore the space might be overlapped Please pay close attention to it when using A2L does not support E Cam function PZG O realy 32 bit integer x 800 refer to P5 10 Each data has its corresponding address Specify the address is a must when reading or writing the data The 800 data is from 0 to 799 Non volatile Manually set up the saving P2 08 30 35 is a must and the data should be saved in EEPROM of the servo drive Save the data when it is Servo Off The data will be loaded into data array automatically when it is Servo On Accessing Window Should be access via parameter P5 10 P5 13 July 2014 4 127 ASDA Soft User Guide Chapter 4 Description of Motion Control Here are the descriptions of data array editor 1 To access the value and setting of data array by parameters Through the interface we can access the value of P5 10 P5 11 P5 12 and P5 13 P5 10 Data Array Size 300 P5 11 Data Array Address of Reading sai 0 P5 12 Data Array Window 1 for Reading k P5 13 Data Array Window 2 for Reading 0 These four parameters cannot be modified in software Users can only access their status via ll If desire to read the value of data array so as to make sure the previous written content is correct specify the start address to P5 11 through MODBUS communicatio
303. rward inhibit limit DIS contactb There are 43 command selections of digital input Users could directly set it up via the drop down menu 0x05 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x 10 Speed limit enabled 0x11 Position command selection 1 64 Bit 0x12 Position command selection 1 64 Bit1 Users can set the digital input DI status as a contact frequently open or b contact frequently close 3 152 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Step 4 Setup External Digital Input EDI command External Digital Input EDI Setup P2 36 P2 41 EDI setting for ASDA A2 U model can be done here Its setting method is the same as DI Step 5 Setup digital output DO command There are 35 command selections of digital output Users could directly set it up via the drop down menu Users can set the digital output DO status as a contact frequently open or b contact frequently close July 2014 3 153 ASDA Soft User Guide Chapter 3 Advanced Operation Step 6 Common Setup The screen on the right will be switched to the one as below Gl Parameter Initial Wizard e Badi amp Control Mode ion P 1 0 0x0E PT PR S n te Ceti BENS SS RR Sete Rotaion Direction Selection P 1 01 Encoder O
304. s 16 sets of acceleration deceleration time 16 sets of delay time and 16 sets of target speed Those are shared for each kind of PR mode P5 20 P5 35 Accel Decel Time AC00 Delay Time 2 9 AC03 Internal Target Speed ACO4 AcOS The unit of 16 sets of ACO6 ACO7 acceleration deceleration a time is ms Its setting range is from 1 to 65 500ms AC11 AC12 AC13 Accel Decel Time Internal Target Speed The unit of 16 sets of delay time is ms Its setting range is from 0 to 32 767 ms 4 72 gt P5 40 P5 55 Delay Time DLYOO DLYO1 DLYO2 DLYO3S DLYO4 DLYOS DLYO6 DLYO7 DLYO8 DLYO9 DLY 10 DLY11 DLY 12 DLY13 DLY 14 DLY15 ms P5 20 1 65500 ms P5 21 1 65500 ms P5 22 1 65500 ms P5 23 1 65500 ms P5 24 1 65500 ms P5 25 1 65500 ms P5 26 1 65500 ms P5 27 1 65500 ms P5 28 1 65500 ms P5 29 1 65500 ms P5 30 1 65500 ms P5 31 1 65500 ms P5 32 1 65500 ms P5 33 1 65500 ms P5 34 1 65500 ms P5 35 1 65500 ms P5 40 0 32767 ms P5 41 0 32767 ms P5 42 0 32767 ms P5 43 0 32767 ms P5 44 0 32767 ms et P5 45 0 32767 ms P5 46 0 32767 ms P5 47 0 32767 ms P5 48 0 32767 ms P5 49 0 32767 ms P5 50 0 32767 ms P5 51 0 32767 ms P5 52 0 32767 ms P5 53 0 32767 ms P5 54 0 32767 ms P5
305. s OFF When it captures one item value of P5 38 descends one When P5 38 is 0 the CAP is complete and DO CAP_OK is ON Bit 0 will reset to O automatically If P5 38 is 0 click BB car nisatie will not do capturing DO CAP_OK will be OFF and bit 0 will reset to 0 automatically If bit O is 1 users can only set the value to 0 and disable CAP Function of Compare E Hardware introduction Digital output DO4 The Compare function is a reverse process of Capture function Items stored in data array will be compared to the signal of a physical axis such as main encoder motor encoder auxiliary encoder linear scale or pulse command DO4 is the only digital output that is used by Compare function which only takes Sus When the position of source axis is the same as the one stored in data array DO4 is on Data Array Linear m Encoder 383838 Main E Encoder osition gt E Parameter setting and operation testing procedure same as Capture function in software is only applicable to quick test In real application PR writing function or controller is usually applied to initialize and proceed capture function Followings are the operating procedure and parameter 4 117 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 118 setting methods P5 59 X 1 Activate Compare P5 59 X 0 Data Array Deactivate Compare P5 59 CBA P5 56 P ir Starting een
306. s parameter group and can access or write in parameters via communication Apart from shortening the time of parameter reading and writing it also can setup for various applications Monitor Parameters Setting gt ASDA A2 series servo drive provides 5 groups of monitor parameters for users to setup different monitor items Users can access the status of these 5 groups of monitor items through communication Monitor Item Setting This function is for the built in monitor items Users can self select the required ones The following table shows the monitor items YE Moitor Item Setting ee W 0 Motor feedback pulse number after electronic gear ratio is s set pulse W d Input pulse number of pulse command after electronic gear ratio is set puise 2 Position error counts between control command pulse and feedback pulse pulse W 3 Motor feedback pulse number before deciranic gear ratio is set pulse W Anput pulse number of pulse command before electronic gear ratio is io is set t pulse W 5 Position error counts pulse Iv 6 Input frequency of pulse command Kpps iv 7 Motor rotation speed r min Iv 8 Speed input command Volt W 9 Speed input command r min W 10 Torque input command Volt i 11 Torque input command m Average load M 13 Peak load 5 M 15 Ratio of load inertia to Motor
307. s servo drive installation and setting please download the user manual from Delta s website 3 The standard communication cable for Delta is 1 5 meters 4 92 feet 4 The above mentioned communication connection is based on ASDA A2 series servo drive ASDA Soft User Guide Chapter 1 Environment and Software Installation ASDA A2 Software Connection Power input 0 1KW 1 5kW 3 phase or single phase 200 230V i 2 0kKW 3 0kW 3 nhase 200 230V a amp 4 CN1 I O connection which Magnetic contactor connects to controller RS 485 RS 232 RS 422 Communication connection Encoder connection CN4 Software Motor power PD 4 communication Servo Motor ee Chapter 1 Environment and Software Installation ASDA Soft User Guide 1 3 Software Screen Description Main Page After clicking the icon of ASDA Soft a system initialization screen will pop up rn ASDA Soft fe Copright J0 i Depo Ecce ime AN marae eae FaN BELTA When the system has been initialized it enters the screen of main program automatically There are tool bar quick launch and status bar from top to bottom Delta ASDA Soft Sk DE IA AR SOO RA RA EnA BD ARs BA OF 6 OO Oru Icon Description File Setting Tools ParameterFunction Window Help Tool bar Users can enable each application and documents from Help Quick launch Users Ri AfBe BA ON gt O04 Borm oa quickly open the
308. se number sent by the controller 002 Position deviation The deviation between the position command and 02h PUU feedback position The unit is PUU user unit B 003 Feedback position Current feedback position of the motor encoder The 03h pulse unit is pulse encoder unit The current coordinate of the position command The PUU 004 Position command hi 04h pulse unit is pulse encoder unit The command that had gone through E gear 005 Position deviation The deviation between the position command and 05h pulse feedback position The unit is pulse encoder unit Frequency of pulse command received by the servo 006 Pulse command a 06h frequency drive The unit is Kpps lt is suitable in PT PR mode 007 Speed feedback Current speed of the motor The unit is 0 1 r min 07h B The value is more stable since it has been though low pass filter PERO ew mand The speed command is issued by analog The unit is ogn 20alo9 0 01 Volt B 009 Speed command The processed speed command The unit is 0 1 r min 09h processed The source might be analog register or position loop Orne commana The torque command is issued by analog The unit is oan 202109 0 01 Volt B The processed torque force command The unit is 0d h O 011 Torque command f OBh processed percentage The source might be analog register or speed loop 012
309. setting in this page is the same as Rotary shear W O sealing zone eR IO ee PEAL Start peaton of Data Aray pii Shp P5 82 ETAM Area Mumia Rotary Shear W1 l PEAT ECAH Cyder humbe M 1 Sealing dont PE Fue somber of masher ads 36000 Pube number of master avis P conespends to FE CAM table M cycle gt so000_puselrew Paa mensal Iost Mator PUUIND per rev MONO puute setna Fa mm 131947 o H MII IO L aa rme jni forte dt Ora aa e amo lh Dewntoed Table D Bun Table Data Its interface of setting value is different from Rotary shear W O sealing zone m The setting range of cutting length L m Value of P5 82 E Cam Area No has to be 7 It is because when using this macro the value of P5 82 is fixed at 7 which means E Cam only has 7 1 parts and is unchangeable P5 82 E CAM Area Number 7 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide mE Since Rotary shear W T sealing zone would create the curve which fixed at 51 the synchronous area Is therefore generated TE TET T Create the curve with Rotary shear Adjustable sealing zone Please select one way to create E CAM Table Rotary Shear Adjustable Sealing Zone Encoder d2 zM Rotary Shear Adjustable Sealing Zone Normally the width of the cutter remains the same However different material needs different cutting length and the
310. sg ai 7 a A E E E m EEEE EEHEEHE HEHEEEHEEHEEHEEHEHEHEHEE HEHEHE amp Off line Computation Rigid Holding i Bandwidth 100 Hz Ratio of inertia fa BHRBEBEBHEEEBEHEEE 3 a 4 a amie ora hi L i setup low frequency stiffness resoonse bandwidth and inertia ratio Setup each gain value and upload download the gain value setup three parameters of resonance suppression Enable Gain Control Panel ALON 3 34 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Followings are the description of each item Window for setting motor type low frequency stiffness response bandwidth and inertia ratio Off line Computation Rigid Holding E Bandwidth 100 Hz Ratio of inertia 4 Show current ratio of inertia Setup response bandwidth of the servo drive Users can also Bandwidth 100 Hz manually modify the value After tuning value will be displayed in this column lf the stiffness is not enough when the position command is complete the drive end still vibrates even when the motor almost stops The adjustment will influence the value of P2 06 Speed Integral Compensation and P2 26 Anti interference Gain Adjust the value of low frequency stiffness Use the value x 100 Rigid Holding no gt to setup P2 06 and P2 26 For example Rigid Holding E Compute Setup 7 s E Click Compute then the following two parameters will be P 2 06 Speed Lo
311. sign Array Address Start Address 20 Area Size 20 Point Size a E ok Create Table 0 22 5 45 67 5 90 112 5 135 157 5 180 202 5 225 247 5 270 292 5 315 337 5 360 o 64532 45664 40074 44577 79722 99297 96692 84584 64623 46510 42344 47705 63713 83046 95296 88287 164532 Draw Download Table Burn Table Data Information Circuit 100447 422 PUL 360 19167 330 30 300 60 270 90 240 120 3367 461 PUUIs 210 150 Bah EA k UL 9 12537 970 PUUIs 15 999 From the above figure you may find that the E Cam curve simulated by software is slightly different from the actual one which is marked on the right It is because the above E Cam curve is drew by 16 sampling points za 2r a SO Z 3 Ta er a 5 se Actually the built in E Cam in ASDA A2 can be divided into 720 parts 721 points The minimum degree of each part in one cycle 360 is 0 5 mx 0 5 0 0 Thus to create more the sampling points the E Cam curve is closer to the actual one On the contrary less points brings rougher E Cam curve The following steps guide the user to create the E Cam table Step 1 Select Manually create a table and click ext July 2014 4 5 ASDA Soft User Guide Chapter 4 Description of Motion Control Please select one way to create E CAM Table table Manually create a table ka Step 1 Select one way
312. sire to delete the program please use Uninstall i Uninetsll to delete it lt ees Chapter 1 Environment and Software Installation ASDA Soft User Guide 1 2 Wiring Configuration Hardware Requirement Personal Computer Communication cable for software WARNING O Mens July 2014 1 Please use Windows operating system 2 USB connector needs to support version above 2 0 1 ASDA A2 series of communication cable supports two kinds DOP CAUSBAB with IEEE1394 connector it can connect to servo drive via RS232 interface When using this communication cable scope function will be unable to use ASD CNUSOAO08 It connects to servo drive through USB version 2 0 or above Since the USB connector has no tenon and cannot firmly connect to PC USB connector please avoid the unstable location or the place where the cable is easy to be pulled during the operation 2 Communication cable from ASDA B2 and other series of servo drive also support ASD CNUSOA08 communication rods gt Do not connect to Delta s servo drive with the wrong software communication cable It might damage the servo drive gt Please use metal shielded twisted pair cable as USB communication cable If no metal shielded cable is included signal might be interfered gt Do not self produce multi connector for software communication cable 1 Please refer to Chapter 2 for specification and setup of personal computer 2 For Delta
313. sition error Threshold P2 35 3840000 10 Pulse 1 128000000 ic Gear Numerator Setting P 1 44 P1 45 7 Input pulse filter P 1 00 Y 0 1 66Mpps Low Speed 6 66Mpps High Speed zs iess 0x07 PT T Mode 1 416Kpps Low Speed 416Kpps High Speed GE 12 80 0x08 PR S Mode 2 208Kpps Low Speed 208Kpps High Speed fio 12147483647 0x09 PR T Mode 3 104Kpps Low Speed 104Kpps High Speed 0x0A S T Mode Sewer of pee commands ear er oe ree Cine driver for ich speed puise Seara 128 1 536870911 oO a 128 1 536870911 Gear4 128 1 536870911 an Ce ss DIn must Select GNUMO 1 ParaThd Msg 201 Cmd 0 4 step 8 Then setup Speed Mode 0x06 PT S Mode The screen on the right will be switched to the one as below Bsadaeo Control Mode j 1 0 0x00 i DALM n 0x06 PT S Position control made Speed control mode Control Mode is changed Must Reboot Drive to Enable Setting 002 5 Mode 0x03 T Mode 0x04 Sz Mode z _ 005 zMode Analog Speed Command Fater 2 Curve Time of Speed Filter P 1 34 P1 35 P1 36 __ 0x06 71 5 mode Ma A a DI O Setup i 0 1000 Disabled Tacc 200 ms 1 65500 TDEc 200 ms 1 65500 Target Speed Threshold P 1 39 Ta fo ms 0 65500 i lane Target Speed Over 3000 RPM _ 0 5000 TSL axoi PR S Mode n
314. ss of data array is set to the same a warning message will pop up whencick Sai Write CMP Parameters Warning The start address of data array for Capture and Compare are the same The range of data array for Capture and Compare are overlapped gt Position of Compare axis It displays the axis position of COMPARE pulse source which can be set as CAP axis auxiliary encoder linear scale pulse command and main encoder motor encoder P5 57 Compare axle position 0 This value is related to the setting of 299 axis source Different source brings different value gt Compare amount It is used to set the compared amount P5 58 Compare Amount 10 10 create data array July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Before COMPARE is enabled estimate the compared amount readable and writable When COMPARE is working the amount that hasn t been compared 0 means it is complete read only Value of this parameter descends one when one point is compared When the value is 0 it means the compare is complete After setting up the CMP amount window on the left will display all data array according to the setting For example if the amount is set to 20 fill in 20 in the blank and click Create data array You will see the left window is changed to 20 data array and the value beside the bracket becomes 20 instead fzo It means data array has been modified 108 008_ oooocaa 109 o09 fooo
315. t Then fill in the proportion of Acceleration area Constant speed area Deceleration area and Stop area as well as the traveling distance of slave axis into the table Moving distance of filling axis is 40mm and 40mm 10mm 100000 400000PUU which is the destination L L l l l l Pitch is 10mm thus gt i l l l l l l f July 2014 4 29 ASDA Soft User Guide Chapter 4 Description of Motion Control Stop Deceleratio Constant Sp ed 3 Position Curve 200 divisions gt 45 i 55 Export the first section Right click the mouse at any column of the E Cam table Then select Export points Since there are 200 parts in this section users should fill in values between 0 and 200 Save the data when complete Quick Input Edit Insert one Delete one Import points Export points Right click the mouse on the table select Export points The following window will pop up To 200 F All points F Save integer only Seperate symbole Tab Cancel Then setup the range Cancel this option All points in this window Manually enter the range from 0 to 200 From 0 To 200 F All paints Click to open the screen for exporting files to export the first section of Curve 4 30 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide aan Am 2 ee EB gt Case E ez JEDER SeaTac OJE ERE F
316. t Select TCMO or TCM1 3 114 ParaThd Msg 201 Cmd 0 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 0x05 Tz Zero Torque Internal Torque Command Step 1 Select the control mode from drop down menu a mode waz T Torque salami mode Ox05 Tz Zero ae j internal er command 0x06 PT S Position control mode Speed control mode 0x07 PT T Position control mode Torque control mode 0x08 PR S Position control mode Speed control mode 0x09 PR T Position control mode Torque control mode 0x04 S T Speed control mode Torque control mode Step 2 Select Zero torque control mode Tz the setting block on the left will show as below Torque Mode Setup Internal Speed Torque Step 3 Click DI O Setup the following screen pops up Digital Input DT Setup P2 10 P2 17 July 2014 A ASDA Soft User Guide Chapter 3 Advanced Operation There are 43 command selections of digital input Users could directly set it up via the drop down menu oxO5 Low speed CLAMP 0x06 Command input reverse control 0x08 Command triggered 0x09 Torque limit enabled 0x 10 Speed limit enabled gfe aaah command selection 164 Bit0 En Users can set the digital input DI status as a contact frequently open or b contact frequently close DI 0x00 Dis
317. t Type TE UTE A TYPE settings Setup the end of position command and position command since we assume the motor is going back to the 0 point The command has to be ABS absolute command and the command point should be 0 4 82 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide CMD End of position command 00 ABS Absolute Position CMD DATA 3 C 01 REL Relative Position CMD Current Position ATA 10 INC Incremental Position CMD Previous CMD DATA i 11 CAP Capture in high speed CMD Captured DATA Position CMD DATA PUL 0 00000 OxFFFF m Setup acceleration deceleration time of the 1 and 2 speed of homing When mechanical stiffness is softer in the setting of the 1 high speed and 2 low speed command users might need to setup one acceleration deceleration time to enable the motor gradually runs to the setting speed This can be done by the software setting ACC Acceleration Time ACOO 200 P5 20 DEC1 ist Deceleration Time ACOD 200 P5 20 NEC Ind Deceleration Time Use the same deceleration time as STP command STP command in General Parameter Setting ACC Acceleration Time When the function of searching origin point is triggered motor accelerates from O to the one that users need P5 05 ist Speed Setting of High Speed Homing 100 0 0 1 2000 0 Use the drop down list to setup the 16 sets of acceleration deceleration time DEC1 The f
318. t User Guide Chapter 1 Environment and Software Installation 1 1 Software Installation Download Installer 1 Download ASDA Soft from Delta s website Iy Nfehpsy The software version download from Delta s website might be different from the example of this manual If there is any question please contact your distributors for further information A ELTA 1oduly2014 GELS cions TT gt DELTA ELECTRONICS ING Please Select Product About Delta Press Releases Products amp Services Investor Services Corporate Social Responsibility Human Resources Products amp Senaces industnal Automation Motor amp Drive Motion amp Control Control Power Quality Home gt Products amp Services gt Industrial Automation gt Download Technical Support Please select product AC Servo Motor and Drive v Please selectitem Software X amp Contact us Power Management Motion amp Control Display Solutions ASDA Series Software Software Name Explanation Operating System Issue Date File Size Comment Components 4 PANE 7 Windows XP Networking SP3 32bit New Businesses Version z Configuration Windows Vista for ASDA gt Delta Group Links ASDA Soft V5 02 01 software for ASDA Sp1 32bit 2013 10 09 35 9MB A2 B2 MISIA2R Delta Group series Version series Windows 7 gt Inc deren ir camer sabes in ch China C T re T T Delta Greente China Co
319. t can start from any location of data array Encoder 1OD4O0406 1 ow ty a Main Encoder 4 111 ASDA Soft User Guide Chapter 4 Description of Motion Control E Parameter setting and operating testing procedure Linear encoder P5 39 Y 1 Pulse command P5 39 Y 2 Main encoder P5 39 Y 3 4 112 Please note that function in software is only applicable to quick testing In real application it usually applies PR writing function or controller to initialize and proceed capture function Followings are the operating procedure and parameter setting methods DI7 4 5 6 P5 39 Z 1 P5 39 X 1 P5 36 Data Array Starting P5 39 X 0 Point P5 39 z7 0 Deactivate If Bit 1 of P5 39 X is set P5 37 P5 76 after the first First item Item is captured captured P5 37 If Bit 2 of P5 39 X is set the servo will initiate COMPARE FUNCTION after the first item is captured Activate All Capture False gt d The source axis items done 5 39 X of CAPTURE FUNCTION If Bit 3 of P5 39 X is set the servo will call PR 50 when all in P5 38 captured completely P5 39 X 0 Set the source of capturing reference signal by P5 39 Y gt Auxillary encoder CN5 The source could be linear scale gt Pulse command CN1 The source could be the controller gt Main encoder CN2
320. t is the coordinates point that users defined The origin of coordinate in servo system is the initial coordinate setting when the machine is start up Usually each axis of the machine shall return to the origin point before executing commands when CNC system is power on Users can either use manual mode or program control mode to return each axis back to its machine origin point Activate the homing button on control panel when using manual mode and the machine tool base will return to the origin point of each axis In addition it could be regarded as the point for tools exchanging For safety concerns before tools exchanging axis Z returns to machine origin point first This is for avoiding the collision between tool and materials Method of connecting the hardware is to connect Z pulse to internal coordinate of the servo through encoder cable And the coordinates value corresponded by Z pulse can also be specified July 2014 4 75 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 76 When the homing is complete the position motor will not exactly stop on Z pulse It is because when Z pulse is found motor has to decelerate to stop And it might exceed a short distance according to the deceleration curve However if the position of Z pulse is correctly setup it will not influence the accuracy of positioning For example specify the coordinate value which corresponded by Z pulse is 100 then Cmd_O 300 after homing is com
321. ta DI4 0x17Torque command selection 1 4Bit1 contacta DI5 0x02Alarm Reset 7 contacta DI6 ox22 Reverse inhibit limit C contacta DI7 0x23 Forward inhibit limit 7 C contacta DIS 0x21 Emergency stop contacta v External Digital Input EDI Setup P2 36 P2 41 EDI9 0x00 Disabled contacta EDI10 0x00 Disabled 7 contacta ox00 Disabled contacta D ee ParaThd Msg 201 Cmd 0 UNAN BBB Sly 2014 Chapter 3 Advanced Operation ASDA Soft User Guide This section is divided into two parts Interface Introduction It introduces Parameter Initial Wizard by three main parts Working Area Mode Setting and Function Setting Mode Setting It describes how to complete the setting of control mode Interface Introduction Parameter Initial Wizard integrates each control mode and gathers the commonly used parameter in one interface which shortens the tuning time Sesame E Thee eae ee eee ie oe a ge ggg i F 000 P E AR EAA A EAE A AA i Ga A DIERE P2 10 P2 17 DII 0x01 AR Eh Servo On DIZ 004 ARRE T Da Oxte A E oA Bit DI4 0x17 AR ET ma aiet 4 Bit DIS ox02 2 ale DI6 0x22 5 E ERR LIF 0x23 EA ib RAR DIS 02 Fos aE a a ee HAARA EDIE E P2 36 P2 41 3 Epa occ EDILO 0x00 FFA EDIi1 0x00 FEA ParaThd Mse 201 Cmd 0 1 Working Area Users operate the basic function e g upload dow
322. table into the servo drive g7 30 g0 905 Wo 150 180 2105 240 2705 300 330 360 Then users can complete the setting of E Cam by following the setting of Step 3 and 4 Rotary Shear W O Sealing Zone ASDA A2 provides different type of rotary shear curves which all can be generated by PC software Curve of Rotary Shear PC Software Not W O sealing zone gt j Supported Supported Fixed sealing W T sealing zone zone 51 gt i Supported Supported Adjustable Adjustable sealing zone sealing zone July 2014 4 41 ASDA Soft User Guide Chapter 4 Description of Motion Control Following describes the definition of rotary shear with and without sealing zone by four Bold plots When the cutter reaches the cutting materials the speed of master axis and slave axis should be the same Curves w o sealing zone for sharp Curves w t sealing zone for flat cutter application cutter application U shape speed curve The speed of slave axis slows down for Speed curve cutting action because the cutter circumference is Master speed longer than the cutting length Inverted U shape speed curve The speed of slave axis slows down Master speed Master speed for cutting action oe because the cutter circumference is a Saona shorter than the cutting length Need curve In addition users have to know the proportion of cutter circumference and cutting length since it determines th
323. talling ASDA Soft 4 08 04 The program Features you selected are being installed Please wait while the InstallShield Wizard installs ASDA Soft 4 08 04 This may take several minutes Status Validating install Installshield MHext 9 The InstallShield Wizard has successfully installed Click to exist the installer ie ASDA Soft Y4 08 04 InstallShield Wizard InstallShield Wizard Completed The InstallShield Wizard has successfully installed 4504 Soft v4 08 04 Click Finish to exit the wizard Finish Cancel July 2014 1 9 ASDA Soft User Guide Chapter 1 Environment and Software Installation 10 Click aE ma E gt Users can see the following program paths which included in the content gt ASDA_MSizing Tool to select the motor gt ASDA Soft V5 01 Beta Main program of ASDA Soft gt Help Cht Document about software introduction gt Uninstall Uninstall the program a Delta Industrial Automation H AC Servo BE ASDA SoftSeries 4 00 04 T ASDA_Moung ASDA Soft Y40804 EJ Help Eht jp Uninstall i fen 1 When error occurs during installation please cancel it immediately and re start the installation 2 Do not cut off the power or activate other software installer before the installation is completed or failure might occur 3 Do not delete the file which installed in profile C PRogram Files Delta Industrial Automation ASDA_ Soft V 4 08 04 When de
324. tarting from Group 1 the software will download parameters of each group to the working area And a reminder pops up m l k k ll i Sa e oe d Yersion 1 PUNR lt HEEADETE ETERRA 3 86 July 2014 Chapter 3 Advanced Operation 3 Parameter Initial Wizard ASDA Soft User Guide Parameter Initial Wizard enables users to quickly complete the setting of Delta s servo control mode Its features are as follows a Each control mode provides the specific interface so that Users can directly complete the setting Following is the example of PT mode Control Mode Selection P 1 01 r 0x00 PT Position control mode If Control Mode is changed Must Reboot Drive to Enable Setting vy Common Setup Rotaion Direction Selection P 1 01 Forward CCW Reverse CW C Forwrd CW Reverse CCW Pulse Output Polarity Setting P 1 03 oe eee Q MON1 MON2 4 s Forward Output 1 MON1 MON2 Reverse Output C 2 MON1 MON2 C 3 MON1 MON2 Delay of Brake Selection P 1 42 P 1 43 METi fo 0 1000 ms MBT2 fo 1000 1000 ms DOn must Select BRKR MBTI P 1 42 MpT2 PL 43 _ X Monitor analog output polarity gt Encoder Output Pulse Number P 1 46 2500 Pulsejrev 20320000 Regenerative Resistor Setting P 1 52 P 1 53 750 Q 5 750 6000 W 0 6000 Max Motor Speed P 1 55 6000 RPM 10 6000 Analog Torque Command Filter P 1 07 C YES
325. tatus Monitor 5 m po 22 k Coa 32768 32767 0 Reserved a m PO 23 C 32768 32767 0 Reserved m po 24 Be 32768 32767 0 Reserved a Po 25 E mai Saas 0x00000000 Paramenter Mapping 1 2 mw J a p 2 Read Only A Set While Servo OFF Vaid After Reboot BB Volatile Parameter The parameter shared by E Re ae ae a aE E Note Double Click the Value can be ca call out the Parameter Setting Helper 1 2 Toolbar Users can access compare converse and print parameters Parameters in working area Users can setup parameter value create the frequently used group of parameters and access the description of parameters Toolbar m AA 22e gge ae We divide the toolbar into five sections a E Save Access the file Ti i Upload Download parameters Compare converse and configure parameters Print parameters Password for protecting data array Z te a Other functions 3 68 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide Followings are the description of each button Open parameter file Select the file par is its filename extension oe E Oo gt g m 4 cies ot Be T SUE Sig Let ica Parameter File par Parameter File par Ad fet mitre CEN een Faramiria Fie per Save parameter file There are two storage format to save parameters from working area BERO Dimi H amp A O fy tg
326. termine to use interrupt command or not OVLP Overlap the next PR When overlapped disable DLY OVLP Overlap the next PR When opverlaped disable DLY ono 1 ES Apart from internal external interrupt command setting ASDA A2 also provides function of PR overlap in position control mode PR overlap is set at the front command It allows the later command overlaps the front command when the front command is in deceleration area When the setting is overlapped delay time of the front command starts from the beginning of the command July 2014 4 89 ASDA Soft User Guide Chapter 4 Description of Motion Control Since the delay time influences the sequence of overlap it is suggested to set the delay time to 0 SPEED SPEED X INS TX TINS En ot xT DLY TIME tee 1 P_Command 1 P Command 2 P_Command1 P_Command 2 DLY1 _ gt Cannot satisfy the function of overlap Correct Overlap Sequence The left diagram is set with delay time The position command 2 is executed when the delay time is reached However it cannot satisfy the function of overlap Therefore it is suggested to set the delay time to 0 Diagram on the right has no delay time It therefore brings the correct overlap sequence lf the ratio of deceleration for the front command equals to the ratio for acceleration in the later command the overlap portion of these two commands will have a good shape This will reduce velocity trembling Speed Time Setting
327. th of resonance gain output The corresponding value is the relative unit Axis X represents frequency Range is between 0 and 4 000 HZ Step 4 Users can zoom the screen via toolbar UASD O0O However it is suggested to directly border select the resonance point then analysis it with the relative value which is on the right From the above example zoom in the frequency domain we could find the highest resonance point is at the position of 660HZz relatve value is about 10 000 FFT 8192 Pts Step 5 Before the introduction of setting resonance suppression via software here comes the parameter definition first lf resonance frequency is acquired via step 4 users may setup notch filter to eliminate the resonance ASDA A2 servo drive provides 3 sets of notch filter the first one is manual setting P2 23 which sets the frequency between 50 and 1 000HZz the second set P2 43 and the third set P2 45 which set the bandwidth from 50 to 2 000Hz The suppression strength of three sets P2 24 P2 44 and P2 46 is 32d July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The Following is the system brief introduction Speed Contral Unit Feed forward Gain P2 07 Differentiator Current Controller Low pass Notch Filter 1 Filter A P2 25 P2 23 P2 24 Notch Filter 2 K P2 43 P2 44 Switch of Auto Resonance Suppression amp Sensitiveness Setting P2 47 P2 48 Notch Filter 3 P2 45 P
328. ting iil Write all into the servo Write the related parameters of PR mode from servo drive to the software for editing In addition users can download the parameter of each mode E ASDA Soft kee Select the range to download W Select Al V Speed Time Setting Paramters V General Setting Parameters V Homing Setting Parameters All PR Path Parameters ne E Operation Description A description window will pop up when click this Users can read through the operation of PR mode Password Setting This function can be used to setup password to protect data array This function can make sure users will not lose data in data array caused by improper operation Please note that this function is available from firmware version V1 027 July 2014 4 65 ASDA Soft User Guide Chapter 4 Description of Motion Control Password Protection Data Array Protection Level Motion parameters are protected Support from V1 027 O Lock the whole array 4hLock array address 2400 2799 i Lock array address 4100 2799 S Lock array address 500 799 2 Lock array address 2200 2799 6 Lock array address 600 799 3 Lock array address 300 799 7 Don tlock the array Password g 1 16777215 Enter the password The setting range can be divided into Data Array Protection Level Motion parameters are protected Support from V1 027 O Lock the whole array O 4 Lock array address 400 799
329. ting of High Speed Homing 100 0 0 1 2000 0 P5 06 2nd Speed Setting of Low Speed Homing 20 0 0 1 500 0 P6 00 P6 01 Homing Definition PATH Path Selection ACC Acceleration Time DEC1 ist Deceleration Time ACOO 200 P5 20 a Use the same deceleration time as STP command STP command in General Parameter Setting DEC 2nd Deceleration Time BLY Delay Time BOOT Activation mode when power on 0 Disable homing function P6 01 Homing Definition Value 0 2147483648 2147483647 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Step 8 Click to write all into the servo drive and complete the setting of PR mode Lee fits Select the range to download V Select Al Speed Time Setting Paramters V General Setting Parameters V Homing Setting Parameters V All PR Path Parameters C Step 9 Set up the compared value of data array Enable CAP CMP function 4AF Click tl to read parameters from servo drive Since we haven t executed PR to setup the value of P5 58 Compared amount first so can fill in the value into compared data array 2 1 Create data array Change P558 Compare Amount tg 2 Click Createdataarray Data array will be changed into 2 fields CMD Mists Arrow CMP Data Array Upda date foso joo0 eleelep key o5i Left click the mouse on 050 and 051 and change the value to 50 000 and 100 000 respectively
330. tion For Anyone who uses this computer all users only For met InstallShield 6 Setup the destination folder If users desire to change the folder please click ie ASDA Soft Y4 0804 InstallShield Wizard Destination Folder Click Wext to install to this Folder or click Change bo install to a different Folder Install 450 4 Sort 4 038 04 to C Program Files Delta Industrial 4utomationi450 4 Soft W4 08 044 InstallShield Cancel July 2014 1 7 ASDA Soft User Guide Chapter 1 Environment and Software Installation Users now can change the destination folder te ASDA Soft Y4 0804 InstallShield Wizard Change Current Destination Folder Browse bo the destination Folder Look in Ge 4504 Soft w4 08 04 amp ee Folder name InstallShield 7 When it is ready click Js to install the program Leg ASDA Soft Y4 08 04 InstallShield Wizard Ready to Install the Program The wizard is ready to begin installation TF you want bo review or change any of vour installation settings click Back Click Cancel to exit the wizard Current Settings Setup Type Destination Folder C Program Files Delta Industrial Automation SDA Soft v4 08 044 User Information Mame aaa Company bbb Installshield 1 8 July 2014 Chapter 1 Environment and Software Installation CCMA DA Scoft User Guide 8 Program is installing ix ASDA Soft Y4 08 04 InstallShield Wizard Ins
331. tion mentioned in this manual mainly focuses on ASDA A2 Software setting and operation of other series servo drive will not be described here 2 ASDA Soft can be downloaded via Delta s website ASDA Soft V4 08 04 3 If you find any mistake or any comment you would like to share please email Servo Support delta com tw Required Installation Site Personal Computer Windows Vista Sp1 32bit version Windows 7 32bit version 64bit version Windows XP SP3 32bit version OS system that mentioned above also includes English Simplified Chinese Japanese and Korean version 64bit version is only suitable for Windows 7 CPU ratin Pentium TI gt 512MHz Memory Demand gt 512MB 1GB is recommended Over 100MB is required July 2014 n ASDA Soft User Guide Chapter 1 Environment and Software Installation sapay Function of serial USB communication port IEEE1394 communication communication port RS232 Screen Setup Screen resolution Over 1024 x 768 pixel Color quality Over 24bit of color TrueColor 1 Windows operating system is a must for clients WARNING 2 This software does not support other operating system 3 Hard discs capacity indicates the installation required capacity of ASDA Soft 4 Please install the latest version of ASDA Soft in Windows operating system 5 The window display of ASDA Soft might be abnormal Please setup the screen property by the following method
332. tion of parameter configuration parameter conversion and parameter comparison 3 67 ASDA Soft User Guide Interface Introduction Chapter 3 Advanced Operation Parameter Editor1 ASDA A2 Servo From es a0 Gea Oge AGO re C fe eer ence etn Ma B E ded aa aeaee d a a F 1 046 1 046 1 046 Firmware Version r 7 WM ae 0x0000 OXFFFF 0x0000 Drive Fault Code m Po 02 STS IEA 300 127 1 Drive Status e a MON me 0x0000 0x0077 0x0000 Analog Monitor Output a m E Leh 0x00000000 Ox20FFFFFF 0x00000000 Reserved m Po 05 a Say Ox00000000 Ox20FFFFFF 0x00000000 Reserved a 1 0x00000000 Ox20FFFFFF 0x00000000 Reserved m Po 07 E E 0x00000000 Ox20FFFFFF 0x00000000 Reserved Po 08 t TSON Hor 0 65535 0 Servo Startup Time PO 09 E i Ad 2147483648 2147483647 Status Monitor 1 i Po 10 E cm lt lt 2147483648 2147483647 0 Status Monitor 2 a E z a 2147483648 2147483647 0 Status Monitor 3 m a E cm sz 2147483648 2147483647 0 Status Monitor 4 a a E cms say 2147483648 2147483647 0 Status Monitor 5 i m po 14 x ie 32768 32767 0 Reserved m a Po 15 E EER 32768 32767 0 Reserved a m SS 32768 32767 0 Reserved a m PO 17 CM1A 0 127 0 Display Status Monitor 1 E m po 18 CM2A E 0 127 0 Display Status Monitor 2 o Po 19 cma ooo i 0 127 0 Display Status Monitor 3 m PO 20 CM4A Pa 0 127 0 Display Status Monitor 4 m po 21 CMSA ahs 0 127 0 Display S
333. tion to 0 rpm ms 200 S curve Time ims 20 Jog Speed rpm 200 3000 200 Jog Motor feedback position user unit Present Position jin Time Cycle 500 ms Est JL Jm 0 July 2014 3 39 ASDA Soft User Guide Chapter 3 Advanced Operation 3 40 Step 2 Setup the parameter of motor speed It is suggested to set from low speed to the actual operation one Actual Acc time ms 33 33 2 40 00 Actual Dec time ms 33 33 2 40 00 rpm acceleration to 3000 rpm ms 200 3000rpm deceleration to 0 rpmims 200 S curve Time ms 20 Jog Speed 200 Download E Setup JOG speed first The JOG speed is used when applying hand wheel or manually adjusting the positioning point The system will regard this speed as the motor speed at forward reverse direction when estimating inertia Note JOG speed must faster than 200rpm so as to achieve the desired result of inertia estimation JOG speed will be used to estimate the max allowable time See the following example Jog Speed 200 Max allowable time ms Current JOG speed rpm 5000 rpm 1 s So max allowable time ms 200rom 5000rom 1000ms 40ms It means when JOG speed is 200rpm the max allowable time is 40ms Users can setup acceleration constant deceleration constant and S curve smooth constant according to the actual machinery situation Note The acceleration deceleration time cannot exceed the max allowable time Formula of auto computing the
334. tioned above X gt Homing Method Y gt Signal Setting Y0 Return to Z pulse Z gt Limit Setting 0 Shows error Homing Speed Setting When executing homing the ORG signal will be regarded as the divide of speed setting After the servo drive is power on or the homing command is triggered the motor runs at the 1 speed and looks for Z first When the signal is detected the motor runs at the 2 speed and decelerates to stop or returns to Z In general the 1 speed is faster than the 2 one It is because when motor runs at the 2 speed it will stop at the end Users can adjust the setting according to the demand To setup the 1 and 2 speed of homing via the software users can simply fill in the speed value in the window that showed below 100 0 0 1 2000 0 P5 06 2nd Speed Setting of Law Speed Homing 20 0 0 1 500 0 Please note that the speed value shall not exceed the setting range If so a warning message will pop up when click Download Delta ASDA Soft V5 Write to Servo Failed Homing Setting Parameters Write_N P5 06 0 CERR 2 314 009 Modbus response error 0x03 Value Error Setting value is not within the setting range Homing Definition This selection provides 5 advanced function setting July 2014 4 81 ASDA Soft User Guide Chapter 4 Description of Motion Control E Advanced setting after homing When the origin point is found the motor will stop at the positi
335. top act Emergency stop is activated Emergency stop acti Emergency stop is activated 3 66 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide 3 6 Parameter Editor Parameter Editor integrates parameter setting and parameter conversion Users usually setup parameters through the panel of the servo drive With Parameter Editor it is more convenient to complete the setting by the software now Its main features are as the followings a Acomplete group list enables users to switch the group setting in a very convenient way b It provides the information of parameter definition and setting range c It provides the parameter configuration parameter conversion and parameter comparison This can help to deal with the problems that brought by different firmware version d Right click the mouse and users can edit Frequently Used Parameters Setup the specified parameter in this interface This would be a short cut to check or adjust parameters e Double click the description which is on the right users can access the definition and description of each parameter P Parameter Editorl ASDA A2 Serva From Drive ce n fm ra ia Ge 6s Qp FE pia pza Paan pa w Psx Pe P7 vaos code value f funt mn Max Default Description VER Oy 1 046 1 046 1 046 Firmware Version M Ae ie ox0000 OxFFFF ox0000 Drive Fault Code STS 300 127 1 Drive Status MON e ox00
336. tput DO Setup P2 18 P2 22 There are 35 command selections of digital output Users could directly set it up via the drop down menu Servo ready Ox02 Servo On Ox03 At Zero speed 0x04 At Speed reached 0x05 At Positioning completed 0x06 At Torques limit Ox07 Servo alarm Servo fault activated 0x08 Electromagnetic brake control 0x09 Homing completed 0 10 Output overload warning 0x 11 Servo warning activated 0x 12 Position command overflow Users can set the digital output DO status as a contact frequently open or b contact frequently close July 2014 3 131 ASDA Soft User Guide Chapter 3 Advanced Operation Step 6 Common Setup Internal Speed Torque The screen on the right will be switched to the one as below Bl Parameter initial Wizarc Bea a Control Mode Selection P1 00 0x08 PR S Position control mode Speed contralmode v Fe Sa OlM asian UAE Sine Orie i este Sta BRB B BBR RBBB RBBB RRR RRR eee eee eee eRe RRR RP RRR eee ee eee eee eee Rotaion Direction Selection P 1 01 Encoder Output Pulse Number P 1 46 Forward CCW Reverse CW Forwrd CW Reverse CCW 2500 Pulse rev 20320000 Pulse Output Polarity ech Sri Teed i om X Monitor analog output polarity EAT CE ele eee 0 MON1 4 MON2 Regenerative Resistor Setting P 1 52 P 1 53 Forward Output C 4 MON1 4 MON2 751
337. ual setting Parameter grouping Complete E Cam setting without memorizing parameter number It provides E Cam simulation so that users could simulate the E Cam path F Vers ASVA SONIVI ASUA AZ Servo E LAM Eartor Lo e esj QP File Setting Tools Parameter Function Window Help JE B eAa SA OF 64 OD F Dom feo eZmOn O86 g ee H Please select one way to create E CAM Table Adjusta Rotary Shear Adjustable Sealing Zone X HE i ne s ee This section will be divided into two parts Interface Introduction It introduces the function and feature of the interface E Cam Table Creation It describes the operation and setting steps of each 4 2 method to create E Cam July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Interface Introduction l Rotary al Please select one way to create E CAM Table Adjustable Scaling Ru aty Shear Avjuslable Seainy Zune DaS l Stepi l l Select one way to ap Slave create F CAM Table 1 l l i res fi Encoder 3 N f 3 _ ri I ES Master e d2 l l L cH i I 7 li l e l informator Simulation s l l Unit mm I l Slave Pulse 100002 PUL l Master Pulse V 13000 pulse fe ele pet Bir a Toa ay a ai a or ae cas AIEEE Ri l l Master Simulated Speed 100 puleeje 9 001 nme l l Slave infu imation _ aae a ad ae ae A EA aA a A ae l l
338. uide 2 2 Setting Description Users could setup two functions below through Setting Setting Tools Pa EL Setting Language Software connection setting will be introduced here Language will be elaborated in later part Software connection setting Click EL E a software communication setting window will pop up The following descriptions detail each function ASDA Soft Setting C On Line Off Line Select Device ASDA A2 E Auto Detect SS Manual Setting X Cancel Jok _ re July 2014 2 3 ASDA Soft User Guide Chapter 2 Basic Operation a Communication setup On Line Off Line ASDA Soft can quickly connect to ASDA servo drive via this function s ONLINE Setup communication On Line operation Off Line Setup communication Off Line operation Users can also use software communication connection button on function D NOTE bar Directly left click this button to setup software communication connection b Select Device through this function users can select Delta s servo drive that desire to connect Select Device ASDA A2 X c Auto Detect Manual setting In following figure users can select Auto Detect or Manual Setting to connect ASDA Soft and ASDA A2 servo drive Auto Detect lect A D 2 Select Auto Detect Select Manual Setting p Pa XN os N 2 4 July 2014 Chapter 2 Basic Operation ASDA Soft User Gui
339. uly 2014 4 61 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 2 PR Mode Setting PR Position Register is a brand new built in motion control mode in ASDA A2 series servo drive It is no longer the traditional point to point control but enables the servo drive to change the motion command anytime ASDA A2 has 64 PR in total Followings describe the difference between traditional and new PR of ASDA A2 Traditional method Motor runs when DI triggers one PR Its command is non continuous One command has to be executed completely in order to run the next one For point to point control the command only can be interrupted but not changed in half way Traditional Method Position Position Position t fT DI selection DI selection DI selection Innovative Method of ASDA A2 The command can be changed by external trigger or internal interruption Various external triggering methods are offered in ASDA A2 which differs from the traditional one Users can operate with different kind of functions such as homing control position control soeed control procedure jump parameters written in and ect Event trigger Q Standard trigger Innovative Function of A2 _ Position Control Speed Control a Software trigger Specific trigger Before introducing PR mode here comes the description of PUU a newly defined unit It is a value which is scaled by E gear rati
340. umber and diameter The cutter number can be changed according to the application and should be equally allocated on the cutter axis Cutter diameter is the rotating distance of cutter tip Regardless the cutter number cutter diameter is always the same Knife No 1 Knife Diameter d1 599 995 mm dreum 1884 939 mm Cutter radius is the distance from the center point of the slave axis to the cutter tip Thus two times of the cutter radius is cutter diameter d1 Knife Diameter di 399 995 mm _ cdrom 1884 939 mm X TT pi 4 46 July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide July 2014 Pulse number and encoder diameter Encoder diameter is mechanism that rotates along with the material feeding Its resolution should be a known parameter Encoder Diameter d2 250 mm draum 785 398 mm Encoder Pulse 10000 3 pulse rev P5 84 manually Input Use the encoder diameter and pulse number per revolution to calculate the command resolution of master axis P5 84 Pulse number of master axis Encoder pulse number per revolution MUL Encoder pulse number per JTUMIL t revolution lf the pulse number of master axis is already known then there is no need to enter encoder diameter and resolution of master axis Check P5 84 Manually Input and directly fill in the pulse number in the blank After P5 84 is selected gram 785 595 mm ee gt these two cannot be se
341. un PR Path 0 ACS 2009 ms 5 26 16590 Event ON OFF Setting Stop PR Path ACO 1200 ms 5 27 1 65500 Acos 1509 ims P5 28 1 65500 i Speed Seting ACOS 2000 ms 5 29 1465500 rage ACO 2500 fm 5 30 1 565500 Ind Coordinates Wizard gt ALL 3000 ms 5 31 1 465500 PRr To AL 12 oO ms 5 32 1 65500 PROJ To acts 60D ims 5 39 16590 pred To Acis 3 ms 5 34 1 65500 PRJ TO acts gms 5 35 1 65500 Pesos To PS 40 P5 55 Delay Time PS 60 PS 75 Internal Target Speed Praos 79 PROT To PReca T0 PRO Ta pre 10 To Prai T PRIAJ T Prai T9 PRei4 To PRri TO paw Ta mace TA This section is divided into three parts Interface Introduction It describes the functions and features of the interface Mode Setting It describes operation steps of homing mode position mode and event setting Example Users can practice how to setup the software July 2014 4 63 ASDA Soft User Guide Interface Introduction The following main screen is divided into 5 parts RE RARE P5 20 P5 357 ee lel Chapter 4 Description of Motion Control I 477PR Path 0 i l T AZOO 200 PS 20 165500 i TT i rms i if J l elay EFIE l ACO1 300 fms PS 21 1 65500 i a l aco 500 ms PS 22 165500 l I am 600 ms PS 23 165500 l i l aco4 a00 ms PS 24 1665500 a ASHER aati SESE ET Eiir path l PETT l ACOS a00 ms PS 25 165500 I a a I ACOG 1000 ms PS 26
342. us area can be setup via DegA in Advanced setting Setting Advanced Setting Deg 1 Waiting Angle BegS 5 Curve Angle 20 j DegA Syn Extra Angle 5 5 4 59 ASDA Soft User Guide Chapter 4 Description of Motion Control Complete the setting of printing range and setup mechanical parameters Users only have to fill in the value of the setting mechanical parameters Please note that pulse number of the encoder Printing axis is the master axis of printing machine Pulse number from the encoder represents the one sent by printing roller per cycle If master axis connects to the printing roller its setting value is P1 46 4 If the printing roller is equipped with decelerator then the factor needs to be taken into consideration For instance if the decelerator is 1 5 then the setting value should be P1 46 4 5 d2 Diameter of printing cylinder includes the length of printing plate When Setting is complete users can click Advanced setting to slightly adjust the curve We also use rotary shear to program the E Cam curve Thus the setting method is still the same The synchronous area is set according to the mechanical condition Users can slightly adjust the degree of waiting area and S curve Setting Advanced Setting Deg 1 Waiting s area Sync area Speed of the printing roller eg L Waiting Angle f DegS 5 Curve Angle 20 z 0 DegA Syn Extra Angle 5 a Waiti
343. usually causes stepping of position command The situation can be improved via S Curve or low pass filter When e gear ratio is 1 the pulse number from encoder is 10000 PPR per cycle Every two pulses from command end will correspond to one pulse from motor if e gear ratio turns to 0 5 Users can check this function to setup e gear ratio lt 5000 E Calculate Electronic Gear Ratio Gear A 1 Pl 4 Gear B 1 RRR P1 45 Step 4 Users now can decide whether to write the related parameters into servo drive Click OK to download all index parameters and P2 52 Example Tips of accessing a series of different types of PR 1 Since the servo drive updates the command every 1 ms the first step is to find the command section which is the PR that can stays in PR Executor for more than 1 ms 2 Write command and jump command will be finished right after they are read and will only occupy PR Executor Motion commands such as speed and position command will occupy both PR Executor and Motion Command Generator As long as the motion command is issued to Motion Command Generator it will continue to execute even when PR Executor is occupied by anther PR 3 Regarding a group of PRs that are read in the same ims the later command will replace the front command for motion command for write command and 4 101 ASDA Soft User Guide Chapter 4 Description of Motion Control P5 07 1 P5 07 1 P
344. utput DO status as a contact frequently open or b contact frequently close Internal Speed Torque The screen on the right will be switched to the one as below BiParameterinitial Wizard Beeadade A Control Mode Selection P 1 01 0x01 PR Position control mode E PE SaM oE NAG Re itae ROE NVE EE X Common Setup _ Rotaion Direction Selection P 1 01 Encoder Output Pulse Number P 1 46 Forward CCW Reverse CW Forwrd CW Reverse CCW so Pulse rev 20 320000 Pulse Output Polarity Setting P 1 03 5 Y Output Polarity X Monitor analog output polarity Regenerative Resistor Setting P 1 52 P 1 53 751 Q 5751 o W 0 3001 G 0 MONI MON2 Forward Output C 1 MON1 4 MON2 C Reverse Output C 2 MON1 MON2 C 3 MON1 MON2 Delay of Brake Selection P1 42 P1 43 Max Motor SpeedfP1 55 MBT1 fo 0 1000 ms 6001 RPM 106001 maT2 fo 1000 1000 ms REN Pre C YES fo ms 0 1000 ft NO j Max Analog Torque Commmand P 1 41 0x0D PT PR Mode _ 0x0E PT PR S Mode a 0x0 PT PR T Mode MBTI F 1 42 MBI2 PL 43 100 10V a ez 0 1000 cad 8 8 8888 8 8 8 888 8 ParaThd Msg 201 Cmd 0 a a E i m a E a a pi m a a T a a E a Ei JE a a ml H a a a a mil a E July 20
345. utput Pulse Number P 1 46 Forward CCW Reverse CW Forwrd CW Reverse CCW 2500 Pulsejrev 20 320000 EECA T 7 4 Monitor analog output polarity f 0 MON1 4 MON2 4 Regenerative Resistor Setting P1 52 P 1 53 Forward Output 4 MON1 4 MON2 751 Q 5 751 Reverse Output 2 MON1 MON2 or W 0 3001 C 3 MON1 MON2 MBT1 lo 0 1000 ms e001 RPM 10 6001 MBT2 TE JU s aject M Analog Torque Command Filter P 1 07 Cys 0 os 0 1000 NO Max Analog Torque Commmand P1 41 MBT1 1 42 MBI PI 43 ho 10V EPM a S aon A BEB BE BERR RRR RRR RRR RRR RRP RRR RRR eee E E E E E Delay of Brake Selection P 1 42 P 1 43 Max Motor Speed P 1 55 E E Fe ee ee eee ee ee amp ParaThd Msg 201 Cmd 0 A Step 7 Since it is in multi mode the system provides setting blocks of position PT mode PR mode and speed mode Setup Position PT Mode first 3 154 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide The screen on the right will be switched to the one as below San QO Control Mode Selection P 1 01 ox0E PT PR S If Control Mode is changed Must Reboot Drive to Enable Setting Type of Pulse Command Input P 1 00 XZ Target Position Error Range P1 54 Seduce tent 12800 Pulse 0 128
346. very time when it compares to the last point the counter will clear to 0 INS When this PR is executing it interrupts the previous one ono AUTO Auto move to next PR when completed ROM write into EEPROM when writing a parameter PAR DLY Setup BLY Delay time index pata rcon 7o 4 136 ONO 1 YES COMPARE Enable Control DLYO1 100 P5 41 0x00010000 0x0FFF313F July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide PR 31 Set P5 58 to 2 and to setup the compared amount of data array INS When this PR is executing it interrupts the previous one NO 5 ES AUTO Auto move to next PR when completed ROM write into EEPROM when writing a parameter Y PAR DLY Setup ONO LEYES Target O Parameter PS 58 COMPARE Amount BLY Delay time index ft lt Data paia cens 72 PR 32 Set P5 59 to 0x00 64 00 3 B July 2014 DLYOO 0 P5 40 1 1999 64 Length of output pulse 100ms Convert the format to hexadecimal so the value is 64 3 Set the source axis as main encoder motor encoder B Set Bit0 Bit and Bit 3 of P5 59 X to 1 Enable and repeat CMP function Every time when it compares to the last point the count will clear to 0 INS When this PR is executing it interrupts the previous one ono 1 VES AUTO Auto move to next PR when completed ROM write into EEPROM when writing a parameter PAR
347. w the difference between the modified parameters and the default ones Current Values in Working Area VS File It compares the current values in working area to the ones in file Users could know the differences between both when the communication is unconnected Parameter Conversion Users can quickly switch the original version to the new one The following screen will pop up E ASDA Soft cae nl ame Convert the Version Target Version C the Same as the Connected Driver s fi Convert C as Selected 1005 id X Cancel July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide It provides two firmware version Target Version C the Same as the Connected Driver s C as Selected 1005 bi When select Same as the Connected Drivers ogardless the opened firmware version the system will adjust the parameter value based on the current version fy Convert aa Select the target version and click SES the system will judge if there is any parameter that needs to be converted If the firmware version is the same the following reminder will pop up Delta ASDA X KiB BEE ieee nena 1005 When select as Selected firmware version for conversion ut ry users can use the built in For example Step 1 Setup the desire version Select from the drop down menu W ASDA Soft a f ame Convert the Version Target Version C the Same as the Connected Driver s Gt Convert C as Selected
348. ward direction DI ORG ON OFF as homing origin mE Homing in reverse direction DI ORG ON OFF as homing origin These two modes regard the ORG sensor as reference point Use its falling edge signal as origin point When the signal is detected users can set if Z pulse will be used as origin point P5 04 X 6 Homing in forward direction DI ORG ON OFF as homing origin P5 04 X 7 Homing in reverse direction DI ORG ON OFF as homing origin P5 04 Y signal setting 0 return to Z 1 forward to Z 2 never find Z P5 04 Z limit setup 0 shows error 1 reverse direction Limit 1 ORG Sensor Stop or Go back Iex Go backward lanore Z Go forward to to search Z 9 search Z Y 0 Return to Z Y 4 Ahead to Z S1 Y 2 Do not search Z 1 Z Pulse _l_ _f it PL Signal a ee Se ORG Signal es T L July 2014 4 79 ASDA Soft User Guide Chapter 4 Description of Motion Control 4 80 Define the current position as origin point Take the current motor position as reference point Positioning is complete when motor does not move J DI SHOM The home position is defined to the place the motor stops at the moment of SHOM signal triggered Next we are going to talk about the operation setting of the software Through the drop down menu 9 kinds of homing modes which mentioned above can be done in a very easy way Y gt Signal Setting 0 Return to Z pulse Z gt Limit
349. wn the motor might unable to run properly 3 During the operation if any alarm occurs press the button of emergency stop immediately or issue the command to stop the motor Step 5 Click __Start_ The motor will operate automatically Motor feedback position user unit 607 Position 1 1581 Present Position 1516 Time Cycle 5 ms i Est JL Jm Please observe the variation of inertia ratio The system will automatically adjust the gain value of control loop Thus the inertia ratio will gradually become stable lt is suggested to use the proper speed to estimate the inertia When the change of Inertia ratio is smaller click to stop the motor 1 During the process of inertia estimation press the button of emergency stop if any abnormality occurs and cut off the power WARNING supply of software and servo drive Then re start the inertia estimation after troubleshooting the problem 2 The value of estimated inertia ratio value of P1 37 should bigger or smaller than 1 which means the system is actually tuning Incorrect inertia value would result in wrong estimation of system bandwidth and gain value Step 6 When the estimation of inertia ratio is complete the new value will show in the box below Click set J to the new value will display on the left Est JL Im o Sel J Rigid Holding 1 Value of inertia ratio on the left will be Bandwidth 249 Hz Ratio of inertia 0 2 replaced by the new value
350. x min value of each channel individually Setting Fine Tuning Properties V Keep current Max Min while running ml IV Show Grid Line V Auto adjust scope display form When show all data in sreen gt gual channels use the individual coordinate C channels use the same coordinat channels use the same coordinat 3 6 July 2014 Chapter 3 Advanced Operation ASDA Soft User Guide E Display oscillograph Channels use the same coordinate m Display oscillograph Channels use individual coordinate 7 O O Direction key After adjusting the size of the graph Direction key can be used to move the scope window to the monitoring position The offset amount of Direction key can be set through Fine Tuning on the right of the screen The move offset takes integer as its unit The minimum value is 1 and the maximum value is 999999999 Print screen This function can be used to print the captured curve Click this button the following window will pop up Select the printer and click OK FE Docu ente 450 I PCL 6 HE IF 172 116 152 230 aL M FERRER L ll EPG E 5588 w ERRA fi C Ai pE l Cy zg Gs PL meL piz ERARO EEEREN 9 Clear screen When users have already saved printed or desire to reset the data definition function of Clear screen can clear the current curve on scope Then access the next one July 2014 3 ASDA Soft User Guide Chapter 3 Advan
351. x00 PT Mode 0x01 PR Mode oxo S Mode 0x03 T Mode 0x04 Sz Mode i 0x05 Tz Mode internal Speed Torque LTOS FT S Mode 0x07 PT T Mode 0x08 S Mode 0x09 T Mode 0x0A S T Mode 0x0B CANopen 0x0C Reserved 0x0D PT PR Mode 0x0E PT PR S Mode 0x0F PT PR T Mode S ASDA Soft User Guide Gas gos ex b Speed Torque Limit Setup P1 02 X speed limit 0 Disable speed limit function 1 Enable speed limit function only for T mode Speed Command Limit Source P 1 09 P 1 11 DIn must Select SPDO or SPD1 P 1 02 Y torque limit 0 Disable torque limit function 1 Enable torque limit function only for P S mode Torque Limit Setting P 1 12 P 1 14 DIn must Select TCMO or TCM1 nue ternal Register 1 Internal Register 2 Internal Register 3 Commandiso 100 100 100 300 300 300 300 300 300 PERU RRP RRR PRR Ree ParaThd Msg 201 Cmd 0 0x06 PT S Position Control Mode Speed Control Mode Dual Mode Step 1 Select the control mode from drop down menu Control Mode Selection P 1 0 0x06 PT S Position control mode Speed control mode 0x00 PT Position control mode 0x01 PR Position control mode 0x02 S Speed control mode 0x03 T Torque control mode 0x04 Sz Zero speed internal speed command 0x05 Tz Zero torque internal torque command 0x06 PT S
352. xle position lo P5 58 Compare Amount p 1 Create P5 59 X Compare Options P5 59 Compare Enable Control Ez P5 59 Y axle source S E fe C P5 59 Z Trigger logic c P5 59 U Trigger PR command P5 59 CBA Output pulse 100 14095 V Enable ON LINE Operation aA CMP Disabled Click om Disabled means to trigger bit 0 of P5 59 X Start to CMP And the status will become UY ow enabled Lb ow Disable P5 59 X bit0 0 UBL ow enabled P5 59 X bitO 1 When value of P5 58 Compare amount is bigger than 0 as ERS it starts to compare when CMP is enabled Value of P5 58 descends one when it compared one point When the value is 0 CMP is complete and bito will return to 0 automatically If P5 58 0 it will not do compare when click Eb ow Disabled and bito will return to 0 automatically lf bit O is 1 users can only set the value to 0 and disable CMP July 2014 Chapter 4 Description of Motion Control ASDA Soft User Guide Data Array Editor Data array is anewly added memory group in ASDA A2 servo drive Many functions of motion control such as CAPTURE COMPARE and E Cam are the data that needs to be stored in a large amount of memory space It can store up to 800 data in total Users have to program the address for different data Features of Data Array Save the captured data of CAPTURE Save the compared value of COMPARE Save the contour table of E Cam Note 1 The system does not pa
353. y 2014 3 53 ASDA Soft User Guide Chapter 3 Advanced Operation Speed command l Speed Command Processing J Speed Estimator oe lee ee eee ee eee ee pame 1 I Speed Control f Resonant Suppression gt Torque Limiter gt Current Loop a ea I Block Diagram Block Diagram i L u E E T Co O O a a a a a a ee O ee ee ee ee ee ee ee ee ee ee ee eS Speed Control Loop Speed control loop in red frame includes four control units see as above Analysis the Bode plot according to KP from speed control and KI from integral It will also analyze the framework such as resonance Suppression and current loop The result can help to improve the system s stability 1 Speed Loop system module mainly analyzes the hardware mechanism in green frame When users need to analyze the allowable command response or resonance features 2 System Module or when abnormal vibration occurs and cannot be cleared by on site personnel this function can be used to analyze the hardware condition remotely Please note that the actual variation of some transmission mechanism e g belt cannot be observed through Bode Plot It is suggested not to use system module to analyze the data WARNING e Rated Current 50 Users could setup the rated current torque which is captured when analyzing Bold plot The rated current setting range is between 1 and 300 The bigger load inertia of the mec
354. y of low speed 5_LOW speed unit 0 0 1r min 5 i 0 0ir min AUTO When this PR is complete it will execute the next PR AUTO When this PR is complete it will execute the next PR automatically ONO 5 YES Speed Time Setting h index position control acceleration deceleration time target speed and delay time of the motor all can be set here ACOO 200 P5 20 ACC Time Index of accelerating to rated speed 3000rpm DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 POVOO 20 0 P5 60 SPD Target speed index DLY Delay time index DLYOO 0 P5 40 The setting of acceleration deceleration time uses Acceleration Deceleration Time in Speed Time Setting as index ACC Time Index of accelerating to rated speed 3000rpm ACOO 200 P5 20 DEC Time Index of decelerating from rated speed 3000rpm ACOO 200 P5 20 The setting of target speed uses Internal Target Speed in Speed Time Setting as index POVOO 20 0 P5 60 SPD Target speed index The setting of delay time uses Delay Time in Speed Time Setting as index DLY Delay time index DLYOO 0 P5 40 Please note that without interrupt INS and overlap OVLP command delay time starts when target position is reached If external interrupt is set the setting of delay time is invalid July 2014 4 97 ASDA Soft User Guide Chapter 4 Description of Motion Control Data
355. y photocopying microfilmor any other method without the written permission of Delta Technical changes which improve the performance of the device may be made Delta has the right to change the definition and contents of this user guide ASDA Soft User Manual Safety Precautions Important Messages Before installing the software please read through this manual carefully in order to ensure the correct use of the product Notice Pay special attention to the following safety precautions anytime during inspection installation wiring operation and examination The symbol of danger warning and stop represent harm if not follow the instructions It indicates the potential hazards It is possible to cause minor injury or lead to It indicates the potential hazards It is possible to cause severe injury or fatal serious damage of the product or even malfunction if not follow the instructions WARNING It indicates the absolute prohibited activity It is possible to damage the product or cannot be used due to malfunction if not follow the instructions Inspection gt Please follow the instruction when using servo drive and servo motor or it is possible to cause fire or malfunction Installation gt When servo motor and servo drive are working it is prohibited to connect the communication cable of software to the servo drive It might danger the personnel safety Conduct the software communicati
356. ze of Data Array Gos 1 P5 81 E CAM Start Address of Data Array P5 82 E CAM Peak Number N 100 co ge amem When the setting is complete click _S ie on the right of these three items Data array will directly jump to the start position For example if click 5 r onthe right of Compare table of data array will jump to field 100 as the beginning OOOOO00000 OOOOO00000 OOOUOU0000 OOOOO00000 lf the data array is overlapped a warning will show Please see the example below Data array of Compare and E Cam is overlapped 100 mog lo 103 J 0000000000 105 DOOOOO0000 July 2014 4 129 ASDA Soft User Guide Chapter 4 Description of Motion Control In addition click update array Address Can write the status into the servo drive lf users desire to keep the setting of data array in servo drive after power off please click Bum to EEPROM to burn data array into EEPROM This function is similar to Burn Table Data which mentioned before 3 Editor that can modify the content of data array Three ways are provided for users to quickly edit the value of data array Action Move Copy Swap gt Move Assume that setting value in position 000 to 005 of data array is as the following ooo jooooo00001 fooi joooooooo002 foo2 o000000003 foos o000000004 foo4 o000000005 foos oooo0o000 lf users want to move down the block of data array f

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