ACS806 - Leadshine
Contents
1. Although a smooth velocity curve have been gotten in Figure 35 we can see that the position following error is still too large to accept And this can be improved by increasing Ki value See Figure 36 However we can see the system response in Figure 35 is already Over Damped namely too much damping has caused the response to be sluggish This can be improved by increasing Kp or reducing Kd See Figure 37 and Figure 38 Here we try to improve the performances by increasing Kp Fosition Parameter 10 Ep a00 Pairs E CAM _ numerator i Encoder lines foao Ki jioa C M_denominator 1 Kd 1000 Position FollowE Limit 4000 E _P_parameter T_Speed_par CurveSetting InputMode _ Figure 36 Position following error curve and velocity curve Kp 800 Ki 100 and Kd 1000 Tel 86 755 26434369 36 A Leadshine Technology Co Ltd x 3 g ACS806 Digital AC Servo drive Manual Rev1 0 Website www leadshine com Tel 86 755 26434369 37 A Leadshine Technology Co Ltd os ACS806 Digital AC Servo drive Manual Rev1 0 Fosition Farameter ED Ep 1000 Pairs F CAM _ numerator ii Encoder lines 10000 Ki 100 C M_denominator 1 Kd 1000 Position Follow rrLirnit 4000 Stop P_parameter TSpeed_par CurveSeting InputMode Figure 37 Position following error curve and velocity curve Kp 1000 Ki 100 and Kd 1000 Fosition Parameter ED 1500 Paie F CAM _ numerator ii Encoder lines 10000 Ki 100 CAM den2. Encoder lines 10000 Ki 250 CAM_denominator D Kd 200 Position FollowErLimit 4000 Sion P_parameter T_Speed_par CurveSeting _InputMode Figure 43 Position following error curve and velocity curve Kp 1500 Ki 350 and Kd 1200 Tuning servo systems formed by ACS806 drives can be summarized as the following rules 1 If servo system is UNSTABLE then the first thing of tuning is to stabilize the system You can increase Derivative Gain of Position Loop Kd or decrease Proportional Gain Kp or Integral Gain of Position Loop Ki 2 If servo system is UNDER DAMPED then increase Kd or decrease Kp or Ki 3 If servo system is CRITICALLY DAMPED then stop tuning and download the parameter settings to the drive s EEPROM 4 If servo system is OVER DAMPED then decrease Kd or increase Kp or Ki Tel 86 755 26434369 41 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 Upload and Download Data Download Data to EEPROM A built in EEPROM in the ACS806 is used to save the configuration data Every time when you finish configuration or get satisfied parameters after tuning don t forget to download the data to drive s EEPROM by select Option gt SaveToDrive ProTuner will indicate you by a message box as shown in Figure 44 if download is successful The EEPROM is a nonvolatile storage so data in EEPROM will not lose when power is off Fositi
3. MO GUC OM sene E N Pea Uro Soni a E E E E E EE EEE HADPNICAULONS fies tone tasceiactadee toa saint iaace O acta saan 2 2 Specifications and Operating EnvirOnMent cccccccccccccceceeeesssseesseeeeeeeeeeeeeeeeaaaas 2 Plectical SpeciMiCatonS sranna a a a a dee MGs isaita dda ais 2 Perl ORMATICS SPeCCIICAONS aena E aN TNE aes 2 Mechanical S peciNcdHon esros a A 3 Fe lial Wat Om OP Cal AE N E ET E E E ee 3 Operating Environment and Parameters ccccccccccccsssssssesssseeeeceeceeeeeeeeaeeeeeeeeses 3 Ds COMMEC ONS eee aa ANN 4 Conmector Connie uralOn rse an shat ie icte sins Sanaa ena 4 Gener al IMPOR MAIO esra EE 4 M re about I O Sicnals sienna ena O 6 ENA PUL DIR Input Circuits and Connections sssseeseoeeeeeeesssssssssssseseeeereeo 7 RLF Input Circuits and Connections neras E A eeias 8 Pend ALM Output Circuits and Connections ccccccccccceecceeeeaeeesessseeseeeeeeees 9 A A B B Z Z Output Circuit 2 0 csssesssssssssseeeecccceccesseceeeesssssesseeeeeees 9 Encoder and Hall Sensor Conne cu ons sonreir E nui 10 RS202 Miterlace C OnMe COIs oeni saad tastes Sait tus aia N 11 Toer COMMCC HOS a a A E A E eek eaan es 11 A SEL V ONDE LU iaacetisiacece sas tocen saad etasteadenenth adn tad sas tec ui taacee itsacen en sbad ted catenae Paiecacenteaees 13 Install Bncoder and Fall SCnsOr c cx sterner a a oe neane een wees 13 Prepare POW St SUDpl Vessel each a hs asia select ne catch ata ihe
4. See Connections section for more information Figure51 Sequence chart of control signals b tz DIR must be ahead of PUL active edge by at least 5 us to ensure correct direction c tz Pulse width not less than 0 85 us d ty Low level width not less than 0 85 us Tel 86 755 26434369 50 Website www leadshine com A Leadshine Technology Co Ltd OE ACS806 Digital AC Servo drive Manual Rev1 0 Protection Functions To improve reliability the drive incorporates some built in protection functions The ACS806 uses one RED LED to indicate what protection has been activated The periodic time of RED is 5 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be displayed by RED LED so the drive will decide what error to display according to their priorities See the following Protection Indications table for displaying priorities Over current Protection Protection will be activated when continuous current exceeds 24A and RED LED will turn on once within each periodic time 5 s Over voltage Protection When power supply voltage exceeds 90 1 5 VDC protection will be activated and RED LED will turn on twice within each periodic time 5 s Under voltage Protection When power supply voltage is lower than 18 1 5 VDC protection will be activated and RED LED will turn on three times within each periodic time 5 s Phase Error Protec
5. Actual Curve Ke ffoooo Ki fo ltest 2 Proportional Gain Integral Gain Command Value Click to start test 0O 65535 0 65535 O 6 Figure 26 Current loop tuning window To start the current loop tuning please enter a command value in the I test textbox unit A Then take following steps to get optimization step response g p z p p p Ke go000 KE mooo best al 1 Give Kp a value and set Ki 0 Click the Start button and observe the green curve in the window a Figure 28 Response with High Kp of current loop Kp 60000 2 If the response is an over damped response as shown in figure 26 increase Kp until get an under damped response as figure 27 3 If get a large overshoot response as shown in figure 28 decrease Kp to get a smaller overshoot response as figure 27 4 After getting a small overshoot response increase Ki to reduce the steady state Tel 86 755 26434369 28 Website www leadshine com Tel 86 755 26434369 29 Website www leadshine com A Leadshine Technology Co Ltd Pane A A Leadshine Technology Co Ltd OE A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Current Toning Position Loop Tuning Position Loop Introduction Position loop tuning is dependant on the mechanical load and therefore will change with any mechanical system changes Position loop tuning should be performed with the motor installed in the system The position loop can
6. aha dats anit nly 13 Regulated or Unregulated Power Supply ccccccccssssessessseeeeeeeeeeeeeeeeaaas 13 Selecting SUPPLY VOMASE srren E Ri 14 PEC Pat CC OOO ae ceunteaceaen eae 14 Tel 86 755 26434369 I Web site www leadshine com Contents System Connections and Noise Prevention ccccccccccccssssssssesssseseeeceeeeeeeeeeeaaas 14 Wire GaU cree eee Oe PrCnee nT tener enamine omen Te aR ae ne Ree Pe eat ene te Mee oa ore 14 Cable ROUI antesate sete nienseasdxt a a tees 15 RAS Fe Gy VVC eE EEEE EEE EEN 15 Cable S 0 el 6 1s Vane re eee eee er ee ee Ee 15 SVENE OUDOIN iasi essere ener a pear tyrt ate rent 16 POWEE SUDDIY C Onnee Oies tad easaiatiestacendeces teas estvearieassarseatenacteaes 16 D5 MUMS TNC SEL VO 2 isso riacie aes baste batik a eet an eects 17 PESTO EC SEY Oso sso races fac eae E ele Mises ae tae face TN 17 T nine thes CLV Oi carat cla is ainda ihe ala shad atte sath rile ila bet ahs eae uatet at 17 6 PC window based Tuning Using ProTumet cccccccccccssssssseesseeeeeeeeeeeeeeeeeaaas 19 Miroducton to Prol Uni ss ccsceenc cc acvenc codecs enccedie a ns codecs anccedeecee es 19 PCOS PU orea E 19 Prolunerinstallafi Oi scenei ss Size scte a anda a andes teed andes eeu 19 Hardware Configurations before TUNING ccccccccccscsssssssseesssseeeeeeeees 23 ProTuner for the ACS806 at Startup Window seeeeseeeeeeeeeeeeeeeeeeees 24 Introduction to ProTuner for the ACS806 2 00 cccccss
7. be closed around velocity or torque mode depending on whether the velocity loop is enabled or disabled If it is closed around velocity mode the position loop algorithm output becomes the new velocity set point If it is closed around torque mode the position loop algorithm Ke 25000 Ki eso test output becomes the new torque set point There are some important differences in the tuning process and application of these two approaches Figure 29 Step response with better Kp and Ki of current loop Kp 25000 Ki 850 Position around Velocity This mode is most common in contouring application where a position trajectory must be tracked very closely The velocity loop provides 5 At that moment Kp and Ki of the current loop is nearly optimum To reduce the additional stiffness and keeps the dynamic position errors minimal since the raise time please increase Kp and increase Ki to reduce the steady state error You system now reacts to not just position errors but also velocity errors which can be can use the mouse to drag a rectangle to zoom in the curse for more detail Click any interpreted as position error changes It is important to start with a stable yet piaceol tie Window to Zoom Gw See eucel responsive velocity loop Typically it is sufficient to just use the position loop proportional gain Feedforward gain can be added to improve tracking performance currait Tuning i e minimize the difference between commanded and
8. make sure the motor would not jump off before powering on the drive if start at a high acceleration 3 In order to setup communication between the drive and ProTuner the ACS806 should be powered ProTuner for the ACS806 at Startup Window Power on the ACS806 The green LED indicator should be on and the motor shaft should be locked if the servo system is OK Please refer to the protection functions Tel 86 755 26434369 24 Website www leadshine com A Leadshine Technology Co Ltd k 3 ACS806 Digital AC Servo drive Manual Rev1 0 to clear the errors if red LED indicator flickers Open ProTuner and the startup window appears as figure 21 For the ACS806 please select the ACS806 in AC Servo tab then click OK button w Leadshine card MAC Servo Drive Select lt ACS806 C ACS60G Figure 21 Startup Window of ProTuner Introduction to ProTuner for the ACS806 1 Main Window Many of the Leadshine products have similar user interfaces like figure 22 ACS806 Digital AC Servo ProTuner DAR Option Tuning Digital_monitor Err_check About pereg Leading Technology Shining Value LEADSHINE Status Bar J www leadshine com Leadshine Technology Co Ltg Date 2009 5 12 Time FF 17 0 Figure 22 Main window of ProTuner for the ACS806 Tel 86 755 26434369 25 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 2 Menu Bar and S
9. secure the motor so it can t jump off the bench Turn on the power supply the green Power LED will light The ACS806 has default parameters stored in the drive If the system has no hardware and wirings problem the motor should be locked and the drive should be ready If the motor jumps slightly and the red LED immediately turns on flickers then either the motor or the encoder is wired in reversal Open the tuning software ProTuner and check drive status by clicking Err_check If its Phase Error then reversal motor wires or exchange encoder inputs and try again If it s Encoder Error please check encoder and its wirings and then try again If it still doesn t work after you followed all of the previous steps please contact us at tech leadshine com If the red LED is off and the motor is normal then you can start to tune the servo with selected tool PC based tuning software ProTuner and handheld small servo tuning unit STU are available for the ACS806 Tuning the Servo A servo system is error driven The Gain of the system determines how hard the servo tries to reduce the error A high gain system can produce large correcting torques when the error is very small A high gain is required if the output is required to follow the input faithfully with minimal error A servo motor and its load both have inertia which the servo amplifier must accelerate and decelerate while attempting to follow a change at the input The p
10. want to use the default folder you can either type a new name or select an existing folder from the list Shortcut Folder ProTuner All Install shortcuts for current user only Make shortcuts available to all users Cancel Figure 16 Shortcut folder setting Set the Shortcut Folder in Figure 16 and continue to install the ProTuner by following Figure 17 and Figure 18 An Installation Successful window will appear 1f the ProTuner is installed successfully See Figure 19 ProTuner All Setup Ready to Install You are now ready to install ProTuner All 1 0 The installer now has enough information to install ProTuner All on your computer The following settings will be used Install folder D iProgram FilesiProTuner All Shortcut folder ProTuner All Please click Next to proceed with the installation Cancel Figure 17 Installation information summarization Tel 86 755 26434369 22 Website www leadshine com A Leadshine Technology Co Ltd ee ACS806 Digital AC Servo drive Manual Rev1 0 ProTuner All Setup Installing ProTuner All Please wait Installing Files Seeking TT Figure 18 Installing the ProTuner ProTuner All Setup p Installation Successful The ProTuner All 1 0 installation is complete Thank you for choosing ProTuner All Please click Finish to exit this installer Finish Figure 19 Finish installation Note Leadsh
11. Co Ltd k ACS806 Digital AC Servo drive Manual Rev1 0 Digital Scope Window Digital monitor can display curves and dynamic values of different point of different curves Click DigitalMonitor in the main menu will open this window FS Digital HMonitor r min P 29 pluse 7 1187 Figure 48 Digital scope window I Current Displays dynamic values for Current related curve s Dynamic value will change with mouse focus changes Its unit is mA V Velocity Displays dynamic values for Velocity related curve s Dynamic value will change with mouse focus changes Its unit 1s r min P Position Displays dynamic values for Position related curve s Dynamic value will change with mouse focus changes Its unit is pulse count T Time Displays dynamic values for Time Dynamic value will change with mouse focus changes Its unit is ms Error Check Window Click Err_check in the main menu will open this window This window shows both the present status of each error event and their history Current error event s can be reset by clicking Erase Current Err button and all error events can be reset by Tel 86 755 26434369 47 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 clicking Erase All button Err Check Figure 49 Error check window OverCurrent Over current Protection Protection will be activated when continuous current exce
12. Digital AC Servo drive Manual Rev1 0 4 Servo Setup Before you start the servo you can follow the below steps Install Encoder and Hall sensor Encoder and Hall sensor provide information of the motor shaft position and rotor magnetic field orientation The output signals from the Hall sensor have absolute phase information which is used at motor startup If your motor has no encoder and hall sensor you must have an encoder more than 200 lines and hall sensor properly mounted on the motor before you start There are some modules which can output signals both for encoder and hall sensor Please assemble the selected module according to its factory manual Leadshine also offer ACM series AC servo motors for matching the ACS806 Please use shielded cables and separate encoder signal cable from interference sources such as motor wires and power wires at least 5 cm Prepare Power Supply Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the Drive However unregulated power supplies are preferred due to their ability to withstand current surge If regulated power supplies such as most switching supplies are indeed used it is important to have large current output rating to avoid problems like current clamp for example using 4A supply for 3A motor drive operation On the other hand if unregulated supply is used one may use a power supply of lower current rating than that of mo
13. Position following error curve and velocity curve Kp 1500 Ki 200 and Kd 1200 Posi tion bar ameter Ep 1500 Pairs l4 CAM numerator 1 Encoder lines 10000 Ki a00 CAM_ denominator f Ka 1200 Position FollowE rrLimit 4000 Sion P_parameter T_Speed_par i CurveSetting Alle InputMode Figure 41 Position following error curve and velocity curve Kp 1500 Ki 300 and Kd 1200 Tel 86 755 26434369 39 Website www leadshine com A Leadshine Technology Co Ltd 3 ACS806 Digital AC Servo drive Manual Rev1 0 Posi tion Parameter _ Kp 1500 Pairs 4 CAM numerator i Encoder lines 0000 Ki aon C M_denominator j kd 1200 Fosition Follow rrLirnit 4000 Stop _P_parameter T_Speedpar CurveSetting InputMode Figure 42 Position following error curve and velocity curve Kp 1500 Ki 400 and Kd 1500 Increasing Kp a little and reducing Ki to 350 can achieve a faster response with little overshoot namely get a response close to Critically Damped response See Figure 43 Remember to download the parameter settings to the drive s EEPROM when you get a satisfying performance You can also save them to a config file on the PC harddisk then use these parameters for other drives See detail in next chapter Tel 86 755 26434369 40 Website www leadshine com A Leadshine Technology Co Ltd os z ACS806 Digital AC Servo drive Manual Rev1 0 Fosition Parameter Kp 1500 Pairs i4 CAM numerator li
14. Rev1 0 SHIPPING FAILED PRODUCT If your product should fail during the warranty period e mail customer service at tech leadshine com to obtain a returned material authorization number RMA before returning product for service Please include a written description of the problem along with contact name and address Send failed product to distributor in your area or Leadshine Technology Co Ltd Floor 3 Block 2 Tianan Industrial Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure Tel 86 755 26434369 59 Website www leadshine com A Leadshine Technology Co Ltd o ACS806 Digital AC Servo drive Manual Rev1 0 Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2643 4369 for All 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com and vic leadshine com Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web hittp www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com Leadshine Hong Kong Address Rm 3 9 F Block E Wah Lok Industr
15. S806 supplies the encoder directly DC power supply VCC ACS806 EGND E Ground 5V EA EA EA EA EB EB EZ EZ EB HEB Encoder amp HallV HallV HallW HallW HallV HallV HallW HallW U HallU C eaa Hall sensor Hal B X E Figure 8 Using external DC power supply to supply the encoder Tel 86 755 26434369 10 Website www leadshine com Tel 86 755 26434369 11 Website www leadshine com 0 Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 FG Re gt a ae Tan eee Encoder Z AT Encoder Z Saanaa Encoder A i ae E N Encoder At B aneneen ENCOdEr Be Y ar F Encoder B vcc Big 0 ov 2 ae i j 7 13 4 D l TE S l Li l Haliw 4 ai a re PZ Jena a Oe HallV i falls 3 14 iE TE x sas i HallV f 15 NC Hallw 14 r 16 NC Hallu 12 ALM Halls amp 13 atm Encoder Fr e Pend l 11 Pend PE 9 scnD v MOTOR SGND e pa eee j w FL rs IRL High Volatge I l E i 5V y o REG Resistor Limit Switch mien eee il reel 4 5 RXD Vde 2 one i DC Power PC Serial Port DB 9 i 20VDC 75VDC Or ae GND 3 STU AC RJ 11 3 Mmo svo o Sr 0COCOCO Chassis Tel 86 755 26434369 GND Figure 10 Typical connection of the ACS806 12 Website www leadshine com A Leadshine Technology Co Ltd OE P ACS806
16. User s Manual ACS806 Digital AC Servo Drive Revision 1 0 2009 All Rights Reserved Attention Please read this manual carefully before using the drive Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China Tel 86 755 26434369 Fax 86 755 26402718 URL www leadshine com E Mail sales leadshine com The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2009 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications ccccccccccccccceeeeeeeeeesessseeeseeeeeeeeeeeeeaaas i
17. actual position The velocity loop is disabled in current version ACS806 and it adopts Position around Current Torque mode Position around Torque This mode is most common in point to point applications where actual motion between start and end point is not very critical In this case velocity loop tuning can be avoided This can be advantageous if the velocity feedback is poor e g low resolution encoder poor encoder quadrature In this case the tuning process requires that the position loop proportional and derivative Tr in are incr im n l nl h m h fficient friction in Ke o i 9 gain are increased simultaneously unless the syste as sufficient ction which case no derivative gain is necessary Once a stable response is achieved integral gain can be added to improve stiffness It is best to use a step command Figure 30 Drag a rectangle to zoom in Tel 86 755 26434369 30 Website www leadshine com Tel 86 755 26434369 31 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 with the profiler enabled as a reference signal during tuning Drive tuning is a multi step process that involves proper tuning of up to three different servo loops namely current loop velocity loop and position loop You can either tune the position loop around the velocity loop or around the current loop Generally it is much easier to tune a position loop around a velocity loop b
18. an set this parameter in the position tuning window by select Tuning gt PositionLoop gt P_parameter For ACS806 the actual PPR can be calculated by the following formula 4x Encoder _resolutionXCAM _ denominator PPR CAM _ numerator Position Parameter Pesca ronic Gear poe EE Ep 1500 Pairs 4 CAM numeratic Encoder lines 10000 Ei 200 CAM denominator Position Follow rrLimit 4000 Tao P parameter T_Speed_par Cure Setting Inputhtocle Figure 50 Electronic gear and position following error setting Tel 86 755 26434369 49 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 Position following Error Limit The ACS806 will activate a position following error if position error between command and encoder feedback exceeds the setting limit value To set the limit value please select Tuning gt PositionLoop gt P_parameter and find the Position FollowingErrLimit edit box See figure 50 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and EN should abide by some rules shown as the following figure t 29 ps ne et te os High Level gt 3 5V I 31 I 4 High Level gt 3 5V it 0US DIR 4 Low Lie Cr T t 5ps i Low Level lt 0 5V ENA i Notes a t EN must be ahead of DIR by at least 5 us Usually ENA is NC not connected
19. area Performance Specifications with ACM Series Servo Motors Operating Environment and Parameters Position following error 1 count Velocity accuracy 2rpm Forced cooling Environment Avoid dust oil fog and corrosive gases Cooling Maximum acceleration speed No Load 80 rpm ms Input frequency up to 600 kHz Ambient Temperature ae Maximum speed 4000 rpm ORAE ORE Allowable low speed reaches rpm Vibration SMa Storage Temperature Weight Positioning accuracy 1 count 20C 65C 4F 149F Suitable for 18 80 VDC AC servo motors ROEN TE E E Tel 86 755 26434369 2 Website www leadshine com Tel 86 755 26434369 3 Website www leadshine com A sali aaa ACS806 Digital AC Servo drive Manual Rev1 0 D aiii iii iaal alee ACS806 Digital AC Servo drive Manual Rev1 0 r es B Encoder channel B output O 3 Connections Es B Encoder channel B output O i Z Encoder channel Z output O Connector Configuration OA 4 Es Z Encoder channel Z output O General Information o2 SGND Signal ground GND ENA ENA PUL PUL DIR DIR FL SGND Pend Pend ALM ALM NC NC NC FG SGND 5V A Tel 86 755 26434369 Enable signal input Enable signal input Pulse signal input Pulse signal input Direction signal input Direction signal input Positive limit signal input Negative limit signal input Signal ground In position signal output In posi
20. assis wire If this chassis wire is connected to PE but the motor chassis itself is attached to the machine frame which is also connected to PE a ground loop will be created Wires used for grounding should be of a heavy gauge and as short as possible Unused wiring should also be grounded when safe to do so since wires left floating can act as large antennas which contribute to EMI Power Supply Connection NEVER connect power and ground in the wrong direction because it will damage the ACS806 drive The distance between the DC power supply of the drive and the drive itself should be as short as possible since the cable between the two is a source of noise When the power supply lines are longer than 50 cm a 1000uF 100V electrolytic capacitor should be connected between the terminal GND and the terminal VDC This capacitor stabilizes the voltage supplied to the drive as well as filters noise on the power supply line Please note that the polarity can not be reversed It is recommended to have multiple drives to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drives Instead please connect them to power supply separately Tel 86 755 26434369 16 Website www leadshine com A Leadshine Technology Co Ltd k ACS806 Digital AC Servo drive Manual Rev1 0 5 Tuning the Servo Testing the Servo You may wish to
21. d Leadshine will either at its option repair or replace products which proved to be defective EXCLUSIONS The above warranty shall not apply to defects resulting from improper or inadequate handling by customer improper or inadequate customer wiring unauthorized modification or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product OBTAINING WARRANTY SERVICE To obtain warranty service a returned material authorization number RMA must be obtained from customer service at e mail tech leadshine com before returning product for service Customer shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer WARRANTY LIMITATIONS Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited Tel 86 755 26434369 58 Web site www leadshine com ACS806 Digital AC Servo Drive Manual Rev1 0 A Leadshine Technology Co Ltd to the 12 month duration of this written warranty ACS806 Digital AC Servo drive Manual
22. ease get the latest version from http www leadshine com Pro uner All Setup Welcome Welcome to the installer for ProTuner All 1 0 Itis strongly recommended that you exit all Windows programs before continuing with this installation If you have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue ProTuner All Setup Installation Folder Where would you like ProTuner All to be installed ProTuner All Setup The software will be installed in the folder listed below To select a different License Agreement location either type in a new path or click Change to browse for an existing folder Please read the following license agreement carefully Install ProTuner All to D Program Files ProTuner AIl Thank you for choosing Leadshine product Space required 27 5 MB Space available on selected drive 5 46 GB Figure 15 Installation folder settings Figure 13 License agreement do not agree to the terms of this license agreement Tel 86 755 26434369 20 Website www leadshine com Tel 86 755 26434369 21 Website www leadshine com A Leadshine Technology Co Ltd 3 ACS806 Digital AC Servo drive Manual Rev1 0 ProTuner All Setup Shortcut Folder Where would you like the shortcuts to be installed The shortcut icons will be created in the folder indicated below If you dont
23. ecause only the proportional gain is needed When tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains Start to Tune Set the parameters and select the curves displayed in Digital Monitor before starting self test and tuning See Figure 31 and Figure 32 for the parameters for the tuning in this paper When we tune a servo we are trying to achieve the fastest response with little or no overshoot namely get a Critically Damped response Fosition Parameter W top rpm 2000 Accel rss 171500 Length p 300000 Interval ma 50 FAlepeat times f Stan P_parameter T_Speed_par CureSetting InputMode Figure 31 Self test motion settings for the tuning Tel 86 755 26434369 32 Website www leadshine com A Leadshine Technology Co Ltd se ACS806 Digital AC Servo drive Manual Rev1 0 Fosition Farameter m W 1566 nmin F 440 p T809 v j_err Fuer M per TraceTime h ibak Ww wv bak p_bak I _ret Moret pref Eon TSpeed_par InputMode Figure 32 Digital Scope settings for the tuning As mentioned above the ACS806 adopts position around current torque mode and when tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains Here we set Kp 800 Ki 0 Kd 200 first and the self test result is shown in Figure 33 Tel 86 755 26434369 33 Website w
24. eds 24A Over Voltage Over voltage Protection When power supply voltage exceeds 90 1 5 VDC protection will be activated LowVoltage Under voltage Protection When power supply voltage is lower than 1841 5 VDC protection will be activated PhaseErr Phase Error Protection Motor power lines wrong amp not connected and encoder or hall sensors feedback signals wrong connected will activate this protection EncoderErr Encoder Error Protection No encoder hall sensor feedback signals or wrong encoder hall sensor feedback signals will activate this protection FollowingErr Position Following Error Limit Protection When position following error reaches Position Following Error Limit parameter setting in the drive this protection will be activated ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s Tel 86 755 26434369 48 Website www leadshine com A Leadshine Technology Co Ltd k ACS806 Digital AC Servo drive Manual Rev1 0 by clicking this button Erase All Erase All button The user can clear all error s including error history by clicking this button 7 Using Tips Change PPR by Electronic Gear PPR pulses per revolution is the counts pulses to make motor move one turn If the default PPR can not satisfy your application a way to change it is setting electronic gear in ProTuner as shown in figure 50 You c
25. eeeeeees 58 WARRANTY LIMITATIONS cc cozcsatae aascshccoasoridesaacasaeaeasaiseresast OE SEEE 58 SHIPPING FAILED PRODUC Myo cccosssssacssusasacecsacsaamonasanasaessneasagotesemanesensssestens 59 CONTACE UE aara ES EEEa 60 Tel 86 755 26434369 HI Website www leadshine com A Leadshine Technology Co Ltd 1 Introduction Features and Applications ACS806 Digital AC Servo Drive Manual Rev1 0 Introduction Leadshine s fully digital AC servo drive ACS806 is developed with 32 bit DSP based on advanced control algorithm Since its input commands are PUL DIR signals the users can upgrade stepping drives to the ACS806 without changing control systems The ACS806 can offer high precision high speed and high reliability performance and widely used in inkjet printers engraving machines and etc A built in controller can be used for testing and tuning PC based and handheld configuration amp tuning tools can meet different tuning environments or requirements Features Input 18 80VDC Peak Current 18A Continuous Current 6 A Max 50 400 W FOC SVPWM technologies PC based and handheld configuration tools Electronic gear rate from 1 255 to 255 Self test function with trapezoidal velocity profile Support PUL DIR and CW CCW control signals Opto isolated support single ended and differential inputs Encoder output Following error lock range adjustable Over voltage over current encoder failure protection
26. esponse The easiest way to get a tracking error or position following error response is to induce an impulse load on the motor See Figure 11 at time 20 Leadshine offers a Windows based setup software ProTuner to its customers for evaluating servo performances Small servo tuning unit STU optional is available too and it s for field tuning without PC Tel 86 755 26434369 18 Website www leadshine com A Leadshine Technology Co Ltd se ACS806 Digital AC Servo drive Manual Rev1 0 Tuning servo systems formed by the ACS806 can be summarized as the following rules 1 If servo system is UNSTABLE then the first thing of tuning is to stabilize the system You can increase Derivative Gain of Position Loop Kd or decrease Proportional Gain of Position Loop Kp or Integral Gain of Position Loop Kj 2 If servo system is UNDER DAMPED then increase Kd or decrease Kp or Ki 3 If servo system is CRITICALLY DAMPED then stop tuning and download the parameter settings to the Drive s EEPROM 4 If servo system is OVER DAMPED then decrease Kd or increase Kp or Ki 6 PC window based Tuning Using ProTuner Introduction to ProTuner As a professional tuning tool ProTuner has been developed specially for all Leadshine digital drives It can be also used to configure the servo drive for many settings such as control signal modes number of motor poles position following error limit default move direction and etc The m
27. he ACS806 is established you can open a configuration file and download the data from the file to the drive See figure 47 for more details Tel 86 755 26434369 43 Website www leadshine com A Leadshine Technology Co Ltd 8 ACS806 Digital AC Servo drive Manual Rev1 0 af Archives dl ACSB0B en exe ACSS06 Contig ad ACSSUB_en exe J Program Files asyctilt dll ga Protuner ae E Uninstall DCS303_en exe DCS810_en exe OMe enese OM4S2 enere DM432_ v0 10 BAT DM432_v0 10 04B DMS56 enese DMBSE en ese lamp brnp ACSS06_Configh01 ToDisk ToDevice Type the file name here Click to save data to file Figure 46 Save data to harddisk si Archives ds ACSBO6 Conti J Program Files ACS E06 en exe ga Frotuner ashcfilt dll aaa ri COMCAT DLL Vora COMDLG32 OCX DCS 30S_ en exe DCS810_en exe M422 eneve Select a config DOM4S2 enere DM432 v0 10 BAT DM432 v0 10 C4B DM556 en exe OMASE en ese d Program Files Protunerr ACS 306 Contig ToDisk ToDevice file in the list Click to download the data to the Drive Figure 47 Download data to the drive Tel 86 755 26434369 44 Website www leadshine com A Leadshine Technology Co Ltd k ACS806 Digital AC Servo drive Manual Rev1 0 Control Signal Input Mode In InputMode tab of Position Parameter window the user can configure control signal input modes DirectionDef Direction Definition Used to change the default movement direc
28. ial Center 31 41 Shan Mei St Fo Tan Shatin Hong Kong Tel 852 2952 9114 Fax 852 2952 9395 Email hk_sales leadshine com Tel 86 755 26434369 60 Website www leadshine com
29. ine also offers special version ProTuner which does not need installation Please visit our website www leadshine com for latest ProTuner Hardware Configurations before Tuning ProTuner uses PC RS232 port to communicate with the ACS806 The ACS806 has a RJ 11 connector in which a special RS232 cable is connected to PC RS232 port Before opening ProTuner to tune the ACS806 the following configuration must be Tel 86 755 26434369 23 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 achieved as figure 20 1 A power supply which has sufficient output current at related voltage 2 AC servo or DC brushless servo motor power range 50 400W with encoder and hall sensor feedback 3 Table PC Notebook with one RS232 communication port at least or a USB to RS232 adapter Recommend using Table PC with RS232 port 4 A special RS232 cable offered by Leadsine in which one end is a RJ 11 connector and the other end is a DB9 connector Hall sensor Figure 20 Configuration and connections before Tuning Note 1 Ifitis the first installation strongly recommended that tuning the ACS806 and AC servo motor without motor shaft coupling to any load After basic values of the parameters are achieved connect the motor to the load for further tuning These basic parameters can also be used for other drives with the same servo motors 2 Please double check the connections and
30. ith common anode outputs ACS806 R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 2 Connections to controller with differential outputs Tel 86 755 26434369 7 Website www leadshine com A Leadshine Technology Co Ltd ar i Leadshine Technology Co Ltd a A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Pend ALM Output Circuits and Connections Controller ACS806 VCC i 5V ACS806 270 Pend In position signal Alarm signal R 0 if VCC 5V GND R 1K Power gt 0 125W if VCC 12V ee eee R 2K Power gt 0 125W if VCC 24V Note R at least 4 7K R must be connected to control signal terminal l Figure 5 Output circuit and connection for Pend and ALM Figure 3 connections to controller with Common Anode outputs A A B B Z Z ircui RL FL Input Circuits and Connections A B B Z Z Output Circuit Negtive limit switch Figure 6 A A B B Z Z output circuit Recommend using the 5V supply output pin Digital amp Analog I O for FL RL input ACS806 leaned i A l 5V ACS806 A Channel Positive limit B B Channel B Positive limit I switch Negtive limit Z Z Index 7 Figure 4 Input circuit and connections f
31. kept at low level for normal drive operation and the drive will short circuit the motor coils to stop the motor immediately when FL RL turn to high level Please select active at high level when RL RL is not connected Tel 86 755 26434369 6 Website www leadshine com A Leadshine Technology Co Ltd os ACS806 Digital AC Servo drive Manual Rev1 0 In position signal output OC output high impedance when the position error is Pend Pend we more than 2 pulses and low impedance when the position error is less than 2 pluses Alarm signal output OC output high impedance when the working status is ALM ALM normal and low impedance when over voltage over current phase error encoder error limit error position following error happens A A B Encoder feedback signals output usually offered to the controller for external B Z Z velocity position loop ENA PUL DIR Input Circuits and Connections The ACS806 has 3 differential logic inputs to accept Enable Pulse and Direction control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the control signals Recommend use twisted wires and shielding cable for control signals to increase noise immunity in interference environments Keep these wires far away from the power lines In figure 2 input circuit for these control signals and connections to a typical motion controller is illustrated Figure 3 illustrates connections to the controller w
32. o motor it is 4 CAM denominator li Positian FollowE rrLimit 4000 Stat Set the Encoder Lines according to encoder specification The input number should be 4 times of the actual encoder lines resolution since the ACS806 decodes the encoder signals in X4 mode ie 10000 for 2500 lines encoder Figure 25 Software configuration before Tuning Current Loop Tuning For most of the ACS606 drives which are shipped with Leadshine s ACM series servo motors Leadshine will tune the current loop before sending them to customers Current Loop tuning is a reserved function and when opening the current tuning Tel 86 755 26434369 21 Website www leadshine com A Leadshine Technology Co Ltd a A Leadshine Technology Co Ltd aa A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 window by selecting Tuning gt CurrentLoop a password input window will appear error until get a critically damped response See figure 29 Leadshine just offers password to some customers for tuning current loop Current Tuning while most of customers just need to tune the position loop parameters if they use the drives with Leadshine s ACM series servo motors If you use the ACS806 with AC servo motors from other manufacturers the current loop tuning may be needed Please contact tech leashine com for the password to tune the current loop Corrent Toning x T ae Kp 5o00 Ki fo C ll
33. o noise immunity Power wires should be twisted as a group along with the ground or chassis wire if available Cable Shielding All signal wires should be bundled and shielded separately from Drive power and motor power wires Power wires should also be bundled and shielded When grounding a shield the rule of thumb is to do so at the source of power while leaving the other shield end open For example in the case of motor power wires this would be the drive side Ideally twisted pairs should be individually shielded and isolated from the outer shield which encompasses all wires within the cable However since this type of stringent shielding practice is often not required typical cables do not provide isolation between inner and outer shields Tel 86 755 26434369 15 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 System Grounding Good grounding practices help reduce the majority of noise present in a system All common grounds within an isolated system should be tied to PE protective earth through a SINGLE low resistance point Avoiding repetitive links to PE creating ground loops which is a frequent source of noise Central point grounding should also be applied to cable shielding shields should be open on one end and grounded on the other Close attention should also be given to chassis wires For example motors are typically supplied with a ch
34. on Parameter a 2 er F 1 Ep 1500 Pairs 4 CAM _ numerator i Encoder lines fooga KI 350 CAM denominator D kd 1200 Position FollowE rrLimit 4000 Es P_parameter 7_Speed_par CurveSetiing Inputhiode Figure 44 Download to Drive EEPROM Upload the Data from EEPROM ProTuner will read the data form the EEPROM automatically when a specific menu is selected For example the Error Check window will display the last ten errors if click Err_check in main menu bar Tel 86 755 26434369 42 Website www leadshine com A Leadshine Technology Co Ltd OE ACS806 Digital AC Servo drive Manual Rev1 0 Save Data on Harddisk ProTuner offers a tool to save all the configuration data on harddisk This tool is very useful when building machines with same motors and other components Select Option gt Archives the upload and download window will appear as figure 45 To Save the current data on hardisk enter a file name in the edit box and then click ToDisk button See figure 46 for more detail si Archives ACS BUG erexe yd Program Files ga Frotuner COMDLG32 Os Uninstall DCS 303 en exe DCS810_en exe DM42 enese OM4s2 er exe DM432 v0 10 BAT Select folder DOMAI 401d CAB Files list in folder DMSS6 er exe DMS56 enexe lamp01 bmp File name and path Save on harddisk Download to EEPROM Figure 45 Upload and download window Download Data to Device When communication between ProTuner and t
35. or RL and FL Tel 86 755 26434369 8 Website www leadshine com Tel 86 755 26434369 9 Website www leadshine com A Leadshine Technology Co Ltd a i Leadshine Technology Co Ltd a A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Encoder and Hall Sensor Connections RS232 Interface Connection The ACS806 can accept both incremental encoder and Hall Effect sensor inputs for motor shaft position feedbacks Note that twisted pair shielded cabling provides the 1 PC with Protuner ACS806 best immunity in electrically noisy environments 2 STU ACS Small Servo Tuning Unit Digital Servo Driver The ACS806 has the 5V power to supply the encoder amp hall sensor If the encoder and hall sensor drains less than 100mA the ACS806 can supply them directly and connect it as Figure 7 If the encoder drains more than 50mA use an external DC Special Cable supply and connect it as Figure 8 Ppry 8 Figure 9 RS232 interface connection Typical Connections o A typical connection of the ACS806 is shown as Figure 10 Please consult Digital ACsS806 5SND Ground 5V E EA EA EA EA and Analog I O and Encoder and hall sensor Connections for more information EB EB VCC Encoder amp about controller and encoder connections Ezez HallU HallU HallU HallU Hall sensor HallV HallV HallW HallW HallV HallV HallW HallW Figure 7 The AC
36. orninator 1 Kd 1000 Position Follow rrLirnit 4000 Stop P_parameter T_Speed_par CurveSeting InputMode Figure 38 Position following error curve and velocity curve Kp 1500 Ki 100 and Kd 1000 Website www leadshine com Leadshine Technology Co Ltd 3 ACS806 Digital AC Servo drive Manual Rev1 0 ue Increase Kd can reduce velocity overshoot and get a better velocity curve in as shown in Figure 39 Fosition Parameter mA V 495 min P B p T 1164 Kp 1500 Fairs E CAM _ numerator i Encoder lines 10000 Er 100 CAM denominator 1 Kd 1200 Position FollowE rrLirnit 4000 Stop P_parameter T_Speed_par CurveSeting InputMode Figure 39 Position following error curve and velocity curve Kp 1500 Ki 100 and Kd 1200 Since position following error is still large during constant speed period in Figure 39 we try to increase Ki to improve system s performances Figure 40 Figure 41 and Figure 42 show the result after increasing Ki From Figure 42 we can see that too much Ki will cause position curve over shoot Tel 86 755 26434369 38 Website www leadshine com A Leadshine Technology Co Ltd a ACS806 Digital AC Servo drive Manual Rev1 0 ra tion Parameter Kp 1500 Pairs E CAM _ numerator li Encoder lines 10000 E 200 CAM denominator 1 Ed 1200 Position Follow rrLimit 4000 Stop P_parameter T_Speed_par CurveSetting InputMode Figure 40
37. ost important feature is ProTuner offers the numeric method for tuning position loop parameters Kp Kd Ki and give a visualization result synchronously for users to evaluate the performance of the system Before Tuning ProTuner Installation The ProTuner is windows based setup software for tuning Leadshine s digital drives It can run in windows systems including Win95 Win98 WindowsNT Windows2000 Tel 86 755 26434369 19 Website www leadshine com A Leadshine Technology Co Ltd aa A Leadshine Technology Co Ltd a A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Windows XP And the selected PC should have 1 serial port at least for Choose I agree to the terms of this license agreement and click Next to continue communicating with the drive Double click ProTuner_All_ Setup_V1 0 exe to begin installing the ProTuner See installation The user can enter user s information in the following window See Figure 14 After entering the user s information click Next to select installation folder Figure 12 Click Next to enter the License Agreement window See Figure 13 where you would like to install the ProTuner See Figure 15 Note ProTuner_All_Setup_V1 0 exe can be used for all Leadshine digital drives User can Proluner All Setup User Information Enter your user information and click Next to continue get it from either Leadshine CD or website Pl
38. r Order Standard Accessory one driver needs at least one od Optional Accessory Leadshine provides 1 2m 2 2m 5m 10m cable for user rder selection Users can select the proper length according to their needs a L 2m lt L 1 2m 2 2m 5m lm CABLE DB26 CABLE ACM WINDING DB26 plug wires 4 pin header Male connector Pin Color Signal Description Pin Color Signal Description 1 Green ENA Enable signal input 1 Yellow PE Motor case ground 2 Black ENA Enable signal input Wires 2 Red U Motor phase U 3 Red PUL Pulse signal input Wires 3 Blue V Motor phase V 4 Yellow PUL Pulse signal input EE 4 Black W Motor phase W 5 Blue DIR Direction signal input 6 White DIR Direction signal input 17 FG Ground terminal for shielded Description Extended cable for the feedback wires between the driver and servo motor Ord Optional Accessory Leadshine provides 1 2m 2 2m 5m 10m cable for user rder selection Users can select the proper length according to their needs L 1 2m 2 2m 5m 10m CABLE ENCODER in p DELIS plug DB15 female Tel 86 755 26434369 56 Website www leadshine com Tel 86 755 26434369 57 Website www leadshine com A Leadshine Technology Co Ltd APPENDIX TWELVE MONTH LIMITED WARRANTY Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipping date During the warranty perio
39. resence of the inertia will tend to result in over correction with the system oscillating beyond either side of its target It s called UNDER DAMPED status See Figure 11 This oscillation must be damped but too much damping will cause the Tel 86 755 26434369 17 Website www leadshine com A Leadshine Technology Co Ltd 3 ACS806 Digital AC Servo drive Manual Rev1 0 response to be sluggish namely cause the system to get into an OVER DAMPED state When we tune a servo we are trying to achieve the fastest response with little or no overshoot namely get a CRITICALLY DAMPED response Step and Impulse Responses Under Damped i Critically Damped 4 i seeeenee Over Damped J 5 Impulse Interference Position Time Figure 11 Step and impulse responses As mentioned in previous contents the ACS806 is a digital servo drive and its input command is PUL DIR signal In other words step response just exists in each step command signal For each step command signal is a very small movement so OVER SHOOT and SETTLING TIME between each step are very small causing you hardly can see a step response such as Figure 11 even if the SET POINT is a very large quantity and the acceleration is very high However if you try to evaluate performances of the digital servo by investigating its position tracking error or position following error you may find it s much easier than investigating its step r
40. s 10 latest failures self record function Small size surface mount technology Tel 86 755 26434369 1 Website www leadshine com A Leadshine Technology Co Ltd a i Leadshine Technology Co Ltd 8 ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Applications Mechanical Specifications unit mm inch Suitable for large and medium automation machines and equipments such as inkjet j oe printers engraving machines electronics manufacturing equipments special NC machines pick and place devices packing devices and so on Particularly adapt to the Pa I CoN 5 0 197 applications require high speed high precision and low motor noise R1 5 0 059 97 3 819 50 1 969 O 2 Specifications and Operating Environment _ stots 1 5 C Electrical Specifications Tj 25 C 77F i ie 1 LULU Peak output earen O 0 a aa O E lt 0 z Figure 1 Mechanical specifications Elimination of Heat Drive s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F It is recommended to mount the drive vertically to maximize heat sink
41. ssssessessssseeeeeeees 25 COMMUNICA ON SCUIP asen n dei eat satiated seeds 26 Software Configuration before TUnIN ccccccsseeeeceeceeeeeeeeeeaeeeeeeeeees a Curent Loop PUI seiersen nee Aa A E UE 21 Poston Goop TOMIS sinp saasseeceecvaraenseeaca staan eaesaaacaseaeane eeneeasens 31 Position Loop Int oduch Onc ccis anan a outs 31 Position ALOUTIC Vloei eaaa a E AAT 31 Position around Norges eierniie ea a 31 SEALE CO TUNE a A A E 32 Uploadand Download Data iia cite tla hs aaah e E eihan sseiciuattds 42 Download Data to EERROM ncn n neat eai aes 42 Upload the Data from EEPROM cccccccccccccceceeeeeseseseeeeeeeeeeeseeeeeaaas 42 Save Data On Mardis snorri na A A AN 43 Download Data to Device senceucsesnct ion e aa a ae aeee 43 Tel 86 755 26434369 II Website www leadshine com Contents Control Signal lnp t Mode esserne esen einne AES Ener ER ETATER ER EE 45 More Intormaiton abont Pro TUNE jcscesseviacerae oddaneesaaceuasweatiessnatetvosaveeiaaskatecenaaveecoes 45 E E arse E E A E E OA E E 45 UY Se A E T ENEN 46 IISA Scope WV IMGOW sscshcascnscccnsesechonsanacacusenapnenconetocsdosapbaasanasnensussdnonsanetace 47 Error CHECK WI dOW ssssscunaducseveastedonecdussavsestedernadesuguvastedersedesnsuastsdeneadsouseers 47 eR SUIN OG TOPS ta steeacecte dene eeieace ss nes sete stsesaneee coe abbedee seeder E 49 Change PPR by Electroni Creal cinien n e Oo i 49 Position following Error Limit ss oss0sssavctascguen
42. t the power is off Connect your system according to previous connection diagrams and pay attention to the following tips when wiring Wire Gauge The smaller wire diameter lower gauge the higher impedance Higher impedance wire will broadcast more noise than lower impedance wire Therefore when selecting the wire gauge it is preferable to select lower gauge i e larger diameter wire This recommendation becomes more critical as the cable length increases Use the following table to select the appropriate wire size to use in your application Tel 86 755 26434369 14 Website www leadshine com A Leadshine Technology Co Ltd a f ACS806 Digital AC Servo drive Manual Rev1 0 Current A Minimum wire size AWG 10 20 15 7 18 20 16 Cable Routing All content sensitive signal wires should be routed as far away from motor power wires and Drive power wires as possible Motor power and Drive power wires are major sources of noise and can easily corrupt a nearby signal This issue becomes increasingly important with longer motor power and Drive power wires lengths Twisted Wires Twisted wires effectively increasing noise immunity The successive twists eliminate noise transients along the length of the cable Both signal cables and power cables should be of the twisted and shielded type Differential signal wires should be twisted as a pair The combination of twisted pair wires and a differential signal significantly adds t
43. talMonitor window and set their Trace Time These curves includes Current Following Error _err Velocity Following Error v_err Position Following Error p_err Current Feedback i_bak Velocity Feedback v_bak Position Feedback p_bak Current Command i_ref Velocity Command v_ref Position Command p_ref i_err Current Following Error The difference between commanded current and the actual measured current v_err Velocity Following Error The difference between commanded velocity and the actual measured velocity p_err Position Following Error The difference between commanded position and the actual measured position i_bak Current Feedback This is the actual measured current in motor coil Ideally this value should be as close as possible to the commanded current v_bak Velocity Feedback This is the actual measured velocity measured by the encoder Ideally this value should be as close as possible to the commanded velocity p_bak Position Feedback This is the actual measured position measured by the encoder Ideally this value should be as close as possible to the commanded position i ref Current Command This is the commanded current v_ref Velocity Command This is the commanded velocity p_ref Position Command This is the commanded position Trace Time Trace Time This is the trace time of the digital scope Tel 86 755 26434369 46 Website www leadshine com A Leadshine Technology
44. tandard Accessory one is enough for a user to configure and tune multiple CABLE PC E e Order a drives ee nr eos Boo CABLE PC D i CABLE ENCODER Motor Signal Cable ant A Servo Motor RJ45 header DB plug a STAS 2 Motor Power Cable a CABLE ACM WINDING s y Description Handheld configuration amp tuning unit ACM series BLM series R Brake Order Power Supply Optional Accessory one is enough to configure and tune multiple drives Figure 53 ACS806 accessories and connections with extended cable More Information about ACS806 Accessories n Special RS232 cable designed to setup communication between drive and escription Description PC based configuration amp tuning software pa Handheld configuration amp tuning unit STU ACS Order Standard Accessory user can download from Leadshine website for free Order One STU ACS needs at least one L 1 5m CABLE STU S T aii RJ45 header R1J45 header Tel 86 755 26434369 54 Website www leadshine com Tel 86 755 26434369 55 Website www leadshine com A Leadshine Technology Co Ltd T ACS806 Digital AC Servo drive Manual Rev1 0 Extended cable for power leads between the drive and Leadshine ACM series A Leadshine Technology Co Ltd 2 8 ACS806 Digital AC Servo drive Manual Rev1 0 Connector and cable for control signals include ENA ENA PUL PUL DIR and DIR Description Description AC servo moto
45. tion Motor power lines wrong amp not connected and encoder or hall sensor feedback signals wrong connected will activate this protection RED LED will turn on four times within each periodic time 5 s Encoder or Hall Error Protection No encoder feedback signals or wrong encoder hall sensor feedback signals will activate this protection RED LED will turn on five times within each periodic time 5s Tel 86 755 26434369 51 Website www leadshine com A Leadshine Technology Co Ltd a ACS806 Digital AC Servo drive Manual Rev1 0 Limit Error Protection Protection will be activated when the positive or negative limit input in FL or RL pin is active RED LED will turn on six times within each periodic time 5 s Position Following Error Protection When position following error reaches Position Following Error Limit parameter setting in the drive this protection will be activated RED LED will turn on seven times within each periodic time 5 s Note that wrong motor connection will cause this protection too Please check your motor connection if this protection 1s activated at the startup Attention Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to drive Otherwise the drive will be damaged instantly Protection Indications c Time s of ON Sequence wa
46. tion signal output Alarm output signal Alarm output signal Not connected Not connected Not connected Ground terminal for shield Signal ground 5V 10mA power supply Encoder channel A output Encoder channel A output en A eee ee ee ee oe ce GND Shee GND GND O Website www leadshine com EA EB EGND HallW HallU FG EZ EZ Hall V HallV EA EB VCC Hall W HallU Encoder channel A input Encoder channel B input Signal ground Hall sensor W input Hall sensor U input Ground terminal for shielded Encoder channel Z input Encoder channel Z input Hall sensor V input Hall sensor V input Encoder channel A input Encoder channel B input 5V 100 mA max Hall sensor W input Hall sensor U input O m m m Tel 86 755 26434369 a2 lt caqg Rbrake Go lie Z Sie Motor case ground Motor phase U Motor phase V Motor phase W Brake resistor connection VDC RBrake DC power Input 18 80VDC Power Ground Q Z J a a O OO Website www leadshine com A Leadshine Technology Co Ltd aa ACS806 Digital AC Servo drive Manual Rev1 0 RS232 Communication Connector Pin Signal Description I O 1 NC Not connected 2 5V 5V power only for STU O 3 TxD RS232 transmit O 4 GND Ground GND 5 RxD RS232 receive I 6 NC Not connected More about I O Signals Signal Description Enable input signal This signal used for enabling disabling the dri
47. tion to a specific input level High or Low in the DIR pins Only active in PUL DIR mode CommandType Command Type of control signal including PUL DIR and CW CCW Set this parameter according to Command Type of motion controller ActiveEdge Active Edge The user can set the triggered edge of pulse command signal in this panel When the drive works in CW CCW mode no matter what level is at fixed level terminal the drive can works properly More Informaiton about ProTuner T_Speed_Par tab In Tuning gt PositionLoop gt T_Speed_Par tab the user can set velocity profile for self motion test and tuning including Maximum Speed Acceleration position move Distance of trapezoidal velocity profile and Interval Repeat Times of self motion test V_top Maximum Speed The maximum speed of trapezoidal velocity profile Its unit is RPM Accel Acceleration The acceleration of trapezoidal velocity profile Its unit is r s s Length Distance The distance required to move Its unit is pulse count Interval The interval between positive rotation and negative movement Repeat_times The repeat times of positive and negative movement Tel 86 755 26434369 45 Website www leadshine com A Leadshine Technology Co Ltd x 3 ACS806 Digital AC Servo drive Manual Rev1 0 CurveSetting tab In Tuning gt PositionLoop gt CurveSetting tab the user can choose curves displayed in digital scope of Position Loop Tuning window and Digi
48. tncestnstavsaensbaveavecseebeenstaneainataseanuiassens 50 sequence Chart or Control Siona lS sigarri E RN E 50 Protection Funci ns seneuna E R 51 Overcurrent Protec Oieee enrere ia aE e ISEE EIE 51 Over volase ProteCHhON ccasssseasisssecnsesctacosboasuansusasueateaesnescanesosasesasnonsusataens 51 Ugder voltase Protech ossiani or eann Por E e EENES 51 Phase Error Protech Eee ee re ene ree eee en nen eee 51 Encoder or Hall Error Protection csssseeseccccscensssesecccseecnasseseccesees 51 Limit Error Protection cesriseneessen iner snor eT NEE NENONEN TN ESE TEEES ENS 52 Position Following Error Protection cccccecccccccceessssseesseseeeeeeeeeeeeeeeaaas 52 Protection Indications eoeeeenennnnsseeeeeenssssseeerosssssseeerossssseeeresssssseerresssssss 52 Maximum Pulse Input Frequency ccccccccssssssssssssseecececceeeeeeeeeeeeeesssseeeeeseeees 52 AE OE a EE E E EEE EE EEEE 53 ACS806 Accessories and COMME CtIONS ccccccessssseeeceeeeeaeeeseccceeesaueeseeeeeeeeas 53 More Information about ACS806 Accessories ccccccccesseeeeeecceeeeaaeeeeeseeeeeeas 54 Be NOX as aate aces douse aacseaioevesayrauenacatovevecavoansevassaan aes oaasag sere souseran 58 TWELVE MONTH LIMITED WARRANTY 0 ccccccsssssssssseseeeeeeeeeees 58 EXCLUSIONS srinreriroriro tornieri perie E esa nusneaddansseudiwuaroadcensestseens 58 OBTAINING WARRANTY SERVICE ccccccccccssssssssseeeeeeeccceeeeeeeeeeeaea
49. tor typically 50 70 of motor current The reason is that the Drive draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is Tel 86 755 26434369 13 Website www leadshine com A Leadshine Technology Co Ltd ACS806 Digital AC Servo drive Manual Rev1 0 considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating Selecting Supply Voltage The ACS806 can actually operate within 18 80VDC including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration The rated voltage of the motor is an important parameter when selecting supply voltage Generally speaking do not use a power supply voltage more than 5 volts of the rated voltage of the motor Higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even drive damage Prepare Controller Prepare a controller with pulse and direction signals However the ACS806 has a built in motion controller for self test and Servo Tuning The built in motion controller can generate control signal with trapezoidal velocity profile System Connections and Noise Prevention After finishing the above steps you can connect your servo system Before you start make sure tha
50. ubmenu Option Tuning Digital monitor Err check About fr 4 T ComConti z CurrentLoop Froduct Information Savelolrive FPositionLoop Contact us Archives exit Figure 23 Menu of ProTuner for the ACS806 Communication Setup Select Option gt ComConfig a dialogue window for setting the RS232 communication parameters would appear as figure 24 Select a correct port according to the actual port used Click the Open button to establish communication between the ACS806 and ProTuner The caption of the button should change to Close if communication has been successfully established Click the button again to release the communication Com Config Choose Serial Port Choose Serial Port g Choose Baudrate Choose Baudrate Open Communication Release Communication setup Figure 24 Establish and release series communication Tel 86 755 26434369 26 Website www leadshine com A Leadshine Technology Co Ltd k ACS806 Digital AC Servo drive Manual Rev1 0 Software Configuration before Tuning Some parameters must be configured before tuning the drive and the motor Select Tuning gt PositionLoop to open the position loop window Set the parameters as according to the description in figure 25 Position Parameter mA M nmin F Set number of pole pairs of the servo motor according to motor manual For Leadshine BLM series DC brushless servo motor it is 2 For Leadshine ACM series AC serv
51. ve High level ENA ENA for enabling the drive and low level for disabling the drive Usually left UNCONNECTED ENABLED Pulse input signal In single pulse pulse direction mode this input represents pulse signal each rising or falling edge active software configurable 4 5V when PUL HIGH 0 0 5V when PUL LOW In double pulse mode pulse pulse this PUL PUL input represents clockwise CW pulse active at both high level and low level For reliable response pulse width should be longer than 0 85us Series connect resistors for current limiting when 12V or 24V used The same as DIR and ENA signals Directions input signal In single pulse mode this signal has low high voltage levels representing two directions of motor rotation in double pulse mode DIR DIR software configurable this signal is counter clock CCW pulse active at both high level and low level For reliable motion response DIR signal should be ahead of PUL signal by 5ps at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Positive or negative limit input signal Use signal ground for reference 0 0 5V is Low level input and 4 5V is High Level input The active level can be set with configuration tools such as ProTuner STU ACS If active at low level FL RL must FURL be kept at high level for normal drive operation and the drive will short circuit the motor coils to stop the motor immediately when FL RL turn to low level If active at high level FL RL must be
52. ve of RED LED Description 1 1 qo Over current protection a 2 Over voltage protection 3 3 Under voltage protection a 4 Phase error protection 5 3 J Encoder or Hall error protection 6 6 Limit error protection a 7 Position following error protection Maximum Pulse Input Frequency Maximum Pulse Input Frequency is the highest frequency at which the drive can interpret encoder feedback To convert this frequency to RPM use the following formula Tel 86 755 26434369 52 Website www leadshine com i Leadshine Technology Co Ltd k Pe ACS806 Digital AC Servo drive Manual Rev1 0 Max P I F x RP Gia TE E es eee Pulse per resolution 8 Accessories ACS806 Accessories and Connections ProTuner for ACS806 STU ACS i CABLE STU CABLE PC Pal ay r Servo Motor Motor Signal Cable 7 KN H Motor Power Cable lt PC a le ACM series BLM series Power Supply Figure 52 ACS806 accessories and connections Tel 86 755 26434369 53 Website www leadshine com A Leadshine Technology Co Ltd A ACS806 Digital AC Servo drive Manual Rev1 0 Leadshine Technology Co Ltd ACS806 Digital AC Servo drive Manual Rev1 0 ProTuner for ACS806 STU ACS Special RS232 cable designed to setup communication between the drive and Description PC based configuration amp tuning software ProTuner CABLE STU i S
53. ww leadshine com A Leadshine Technology Co Ltd aan A Leadshine Technology Co Ltd a A ACS806 Digital AC Servo drive Manual Rev1 0 ACS806 Digital AC Servo drive Manual Rev1 0 Fosition Parameter Fosition Farameter m v z e Kp eno Pairs f4 CAM numerator i Encoder lines 10000 Ep 800 Pairs l4 CAM numerator i Encoder lines 10000 Ki Do A enom or Ro a aii denondilio Kd B00 Position FollowErLimit 4000 Stop kd 200 Position FollowE rrLirnit 4000 Sion P_parameter T_Speec_par CurveSetting InputMode Figure 33 Position following error curve and velocity curve Kp 800 Ki 0 and Kd 200 It s very easy to see from the velocity curve Green line that the system is under damped This will cause system oscillating beyond either side of its target so it must be damped Figure 26 shows the result after increasing Kd to 800 In the Figure 34 the oscillation is much smaller than that of Figure 33 You can get even smaller oscillation when increasing Kd to 1000 See Figure 35 Kp 800 Pairs f4 CAM numerator li Encoder lines 10000 KI fo CAM_denominator ii Ka 1000 Position FollowE rrLimit 4000 Stop _P_parameter T_Speed_par CurveSeting InputMode Figure 35 Position following error curve and velocity curve Kp 800 Ki 0 and Kd 1000 Tel 86 755 26434369 34 Website www leadshine com Tel 86 755 26434369 35 Website www leadshine com
Download Pdf Manuals
Related Search