SIMPLE TUNING ASDA-A2 & B2 SERVO SYSTEMS

About This Presentation

Intended AudienceThis material is a step by step guide for simple tuning of ASDA-A2 & B2 system. It just covers the range for running a machine in acceptable level not for the best performance tuning. There are several essential settings for running a machine:

Mode selection, DI/O assignment, J/L ratio calculation, bandwidth tuning, resonance suppression, command source selection, and filters for command smoothing.

Presentation RevisionRevision: 12/15/2011

The Contents

The Procedure TableAll the procedures for a simple tuning

Sharing Portions for All Control ModesDI/O assignment, J/L ratio calculation, bandwidth tuning, and resonance suppression setting

Command Source Defining and All FiltersCommand source selection and defining, and all filters for command smoothing

The Procedure for Simple TuningSTART

P1-01, Control Mode

DI/ DO Settings, P2-10 (DI 1) ~ P2-17 (DI 8), P2-36 (EDI 10) ~ P2-41 (EDI 14), P2-18 (DO 1) ~ P2-22 (DO 5)

P1-37, The ratio of load inertia and rotor inertia (ASDA-Soft or P2-32)

Position Mode

Command Filters & Others

Speed Mode

Command Filters & Others

Torque Mode

Command Filters & Others

P1-00, Pulse

Command Type

P1-44 and P1-45,

The electronic

gear ratio

P1-44 and P1-45,

The electronic

gear ratio

P1-68, Command

Moving Filter

P1-08, Low Pass

Filter

PT Mode PR Mode

P1-36, S-curve

Smoother

P1-68, Command

Moving Filter

P1-08, Low Pass

Filter

P1-59, Command

Moving Filter

P1-40, Speed

Command

Scaling

P1-38, Zero

Speed Clamp

P1-06, Low Pass

Filter

S Mode Sz Mode

P1-36, S-curve

Smoother

P1-36, S-curve

Smoother

P1-06, Low Pass

Filter

T Mode Tz Mode

P1-07, Low Pass

Filter

P1-12 ~ P1-14,

Torque Comd.

Settings

P1-41, Torque

Command

Scaling

Stiffness tuning (ASDA-Soft or P2-31); The resonance suppression filter , P2-47

P1-09 ~ P1-11,

Speed Command

Settings

P1-07, Low Pass

Filter

1

2

3

4

7 7

8

9

10

13

9

10

5

6 12

14

15

16

17

18

19

20

21

22

17

19

23

24

25

26

27

28

26

P1-46, Encoder

Feedback

Resolution

P1-46, Encoder

Feedback

Resolution11 11

P1-46, Encoder

Feedback

Resolution

P1-46, Encoder

Feedback

Resolution

11

11

P1-09 ~ P1-11,

Speed Command

Settings22

P1-12 ~ P1-14,

Torque Comd.

Settings28

The Cross Reference Table

16,27Speed Control Mode14

23,31P1-36, Speed S-curve Smoother13

17,18,19,29PR Mode12

26P1-46, Encoder Feedback Resolution11

23,25P1-08, Position Comm. Low Pass Filter10

23,24P1-68, Position Comm. Moving Filter9

22P1-00, Pulse Command Type8

20,21P1-44/45, Electronic Gear7

17,18,19,29PT Mode6

16,17Position Control Mode5

10,11,13,14,15Bandwidth and Resonance

Suppression4

8,9,11,12P1-37, J/L Ratio3

7DI/O Settings2

6P1-01, Control Mode1

PageContentItem

40P1-12~14, Register Torque Comm. Settings

28

36,37Tz Mode27

23,39P1-07, Torque Comm. Low Pass Filter26

38P1-41, Analog Torque Comm. Scaling25

36,37T Mode24

16,36Torque Control Mode23

35P1-9~11, Register Speed Comm. Settings

22

27,28,29Sz Mode21

34P1-38, Analog Comm. Zero Speed Clamp20

23,33P1-06, Speed Low Pass Filter19

23,32P1-59, Speed Comm. Moving Filter18

23,31P1-36, Speed S-curve Smoother17

30P1-40, Analog Speed Comm. Scaling16

27,28,29S Mode15

PageContentItem

P1-01 The Operation Modes

000102030405

060708090A

Mode PT S T Sz Tz

Single Mode

Dual Mode

PR

0DCANopen Mode

0E0F

Multiple Mode

0B

The Table Beside is for ASDA-A2

• Most of the operation modes are shared by all series.

• Please reference to user manuals for details.

1

Declaim DI/O

All the DI/Os are programmable

• The same physical pin can be defined to different function by different function codes. Normally Open or Close contact also can be assigned to every physical pin.

P2-10

Parameter for

physical signal

DI_1 :

Function Table in

Chapter 8 of

manual :

0x01 Servo On0x21 Emergency Stop

Parameter for physical signal

DO_1 :

0x01 System Ready0x02 Servo On

Function Table in

Chapter 8 of

manual :

P2-18

P2-10 = 101DI_1: Servo On

(Normally Open)

P2-10 = 001DI_1: Servo On (Normally Close)

For Example:

P2-18 = 101DO_1: System Ready

(Normally Open)

P2-18 = 001DO_1: System Ready

(Normally Close)

For Example:

2

P1-37 The J/L Ratio

The ratio of load inertia to motor inertia

• This is a very important parameter which tells a system what the load is put on its shaft. For all tuning processes, this parameter should be defined first.

P1-37 = (Load Inertia + Rotor Inertia) /

(Rotor Inertia)

Rotor Load

3

Manually Tune J/L and Stiffness(1)Use ASDA-soft manually to tune J/L Ratio P1-37

Check ““““Enable Gain Control Panel ““““.

1. Servo On.

2. Set the ““““Jog Speed”””” and ““““Download””””. Use low

speed to make sure no problem for the movement on your machine before you have a higher speed. The J/L can be

correctly evaluated only when the motor speed is higher

than 200 rpm.

3. Operate RIGHT and LEFT arrow to jog the motor and define Position 1 and Position 2 within certain distance. Be careful for the movement of motor not to clash.

4. Click on ““““Start”””” and the motor is running forward and

backward between Position 1 and 2 where the ““““Est.

JL/Jm”””” shown at the mean time.

5. Raise the ““““Jog Speed””””, then ““““Download”””” and

““““Start”””” to run the motor again. Repeat the sequence until the ““““Est. JL/Jm”””” does not have a big difference

read between two different speeds. For example 6.9 at 450

rpm and 7.1 at 500 rpm.

6. Click ““““Set_J”””” and the J/L ratio will be copied to P1-37.

1

2

3

4

5

5 6

3

4

3

Manually Tune J/L and Stiffness(2)Use ASDA-soft to tune bandwidth and stiffness

1 .““““Ratio of inertia”””” will be filled from previous step .

2. The ““““Bandwidth”””” can be tested

from a reasonable value . The (Bandwidth x Ratio _of_inertia) <= 250 can be the first try . Check the stiffness

of your machine after testing and adjust this value if need .

3. ““““Compute”””” the loop gains . All the

calculations will be based on the value , ““““Bandwidth””””.

4. Set P2-47=1 for auto resonance suppression detection .

5. Download all the settings into servo drive.6. Test the performance and adjust the

bandwidth from step 2 if needed . Higher bandwidth will bring higher stiffness on

the servo motor . Too high bandwidth will lead to unstable system due to too less margin left .

12

3

45

4

Semi-auto Tuning J/L and StiffnessThe condition

• This method can work only when

the machine is running with

speed change. If a machine runs at a

low speed with a unit direction, it

could be a problem for this

method to evaluate the J/L

ratio. If P2-33 wouldn’t turn to 1

eventually, it means this

method does not

work.

P2-32 =2, Semi-auto Tuning Mode

P2-31 =40, The bandwidth

If P2-33==1 ? Wait the system to get

J/L ratio.

Run the motor or system.

Stiff enough?

Raise P2-31 the

bandwidth. If the

acoustic noise comes out from

the motor, it means too high

of the

bandwidth .

FALSE

FALSE

True

True

End

Keep running the machine

without doing

anything.

Start

P2-47 =1, Auto resonance detection

P2-31 can be analogous to the bandwidth in

ASDA-Soft. All the gains will be calculated

automatically based on

P2-31 for semi-auto

tuning mode.

If a system get J/L ratio,

the P2-33 will be set to 1 and P1-37 will be put the

J/L ratio.

Stop when performance

satisfied. Do not use the

extreme tuning. Leave some margin always

better for the stability of

a system.

3

4

Calculate J/L from Scope Trend (1)Can be used for all cases but one is compulsory

• If a machine can only be operated at a low speed less than 200 rpm with a unit direction, the PC scope should be used to evaluate J/L ratio.

164.1 % 102 ms∆S=607.5

rpm

3.2 % Kinetic Friction

ECMAECMAECMAECMA----CCCC10604106041060410604ESESESES, , , , JmJmJmJm====0000....277277277277EEEE----4 4 4 4 kgkgkgkg----mmmm2222, , , , TmTmTmTm====1111....27 27 27 27 NNNN----mmmmTTTT====JJJJ⍺⍺⍺⍺ = = = => > > >

((((164164164164....1111----3333....2222)% )% )% )% x x x x 1111....27 27 27 27 = = = = J x J x J x J x ((((607607607607....5 5 5 5 x x x x 2222ππππ / ( / ( / ( / (60606060* * * * 102102102102msmsmsms))))))))J J J J = = = = 3333....27272727EEEE----3333, , , , JJJJ----L RatioL RatioL RatioL Ratio= = = = 3333....27272727EEEE----3 3 3 3 / / / / 0000....277277277277EEEE----4444====118118118118....28282828

3

Calculate J/L from Scope Trend (2)The bandwidth can be set from ASDA-soft

1 . Fill in““““Ratio of inertia””””, which is from calculation by using scope trend .2. The ““““Bandwidth”””” can be test from a

reasonable value . The (Bandwidth x Ratio_of_inertia) <= 250 can be the first

try. Check the stiffness of your machine and adjust this value if need .

3. ““““Compute”””” the loop gains . All the calculations will be based on the value

set in ““““Bandwidth””””.4. Set P2-47=1 for auto resonance suppression detection .5. Download all the settings into servo

drive.6. Test the performance and adjust

bandwidth from step 2 if need. Higher bandwidth will bring higher stiffness on the servo motor . Too high bandwidth

will lead to an unstable system due to too less margin left .

12

3

45

4

The Whole Picture of Notch FiltersAuto and Manual

• Notch Filter (1) : P2-23~P2-24 Manual Mode

• Notch Filter (2) (3) : P2-43~P2-47 Auto/Manual Mode (Manual / One Time Deal / Continuously Searching)

A2, B2

Only

Notch Filter

Manual

B, A, A+, AB, A2, B2

Auto

A2, B2 Only

Notch Filter (1) Notch Filter (2) Notch Filter (3)

P2-23 Resonance Frequency

50~1000 Hz (B2:2000)

P2-24 Attenuation Rate

0~32 dB

P2-43 Resonance Frequency50~2000 Hz

P2-44 Attenuation Rate

0~32 dB

P2-45 Resonance Frequency50~2000 Hz

P2-46 Attenuation Rate

0~32 dB

P2-47 Notch Mode Selection

0: Manual

1: One Time Deal2: Continuously Searching

Range : P2-04 ~ 2000 Hz

4

Notch Filter Attenuation Rate

The Attenuation by dB

• The larger the value, the greater attenuation it is.

• G(dB) = 20 log10 (V1/V0)

A

B

dB %0 100-3 70.79

-5 56.23-10 31.62-15 17.78-20 10.00-30 3.16

-32 2.51

4

The Skeleton of Control Mode

Multiple Cascaded Loops

• Position Mode, Speed Mode, and Torque Mode.

Position Command

P-Control

Unit

S-Control

Unit

T-Control

Unit

P-Command

Unit

Position Loop

SpeedCommand

Vibration &

Suppression

Unit

TorqueCommand

T-Feedback

Unit

S-Feedback

Unit

P-Feedback

Unit

Speed Loop

Current Loop

S-Command

Unit

T-Command

Unit

5

14

23

Position Control Mode

Position Control Path

• Position Command Unit, Position Control Unit, Speed Control Unit, Torque Control Unit, and Vibration & Suppression Unit.

Position Command

P-ControlUnit

S-Control Unit

T-ControlUnit

P-Command

Unit

Vibration &Suppression

Unit

Position Feedback

5

6

12

Position Command Unit

Position Command and Source Selection

• Pulse Type Selection, Control Mode, Electronic Gear Ratio, Moving Filter, Low Pass Filter, and Position Control Unit.

Pulse Type

SelectionP1-00

High Frequency

Signal

INHP

Pulse Inhibition

Low Frequency

Signal

A2,

B2

Only

S-CurveP1-36

Internal PR

CommandMoving Filter

P1-68

CommandLow Pass

FilterP1-08

Position Control Unit

PT/PR or

P1-01

A2,

B2

Only

ExcludeB,B2

GNUM1 GNUM0 Nominator

0 0

10

1 0

11

P1-44

P2-60

P2-61

P2-62

Denominator P1-45

Electronic Gear Ratio

Control ModeP1-01

6

12

Position Control Unit

Tuning the Position Loop Gain

• Proportional Position Loop Gain, Position Integral Compensation, Position Feed Forward Gain

Proportional Position Loop

Gain P2-00

Gain Swithing

P2-01

Gain Switching

Control Selection

P2-27

Maximum Speed Limit

P1-55

DPosition Feed Forward Gain

P2-02

Smooth Constant of Position Feed

Forward Gain

P2-03

Position Command

Speed

Command

I

Position Integral Compensation

P2-53Position

Counter

Encoder

A2,

B2

Only

6

12

The Electronic Gear Ratio (1)The Function and PUU

• The Electronic Gear Ratio is applied to define the resolution of pulse command as well as internal command. Inside ASDA-A2 and B2, the command unit is called PUU (Pulse of User Unit) which is the

data scaled by electronic gear ratio.

7

P1-44, P1-45Electronic Gear Ratio

External PUU

Command

Pulse Command

Internal PUU

Command

Motor Feedback

PUU

PUU

The Electronic Gear will alter the resolution of

command, and the number of pulse

command wouldn’’’’t be

changed. 5 pulse will be converted to 5 PUU after

Electronic Gear.

The Electronic Gear Ratio (2)An Example

• To set the command resolution for PUU.

7

Gear Ratio

2:5

Pitch:

10 mm

Encoder Resolution:

1280000

Pulse / Revolution

Command Resolution Request: 0.001 mm / PUU

10 mm / 0.001 mm = 10000 PUU for every pitch

P1-44

P1-45

1280000

10000 x 25

The Pulse Command Type8

P1-00 to set the type of pulse command

• The Delta servo supports three different types of pulse commands and they are AB phase, CW + CCW, and Pulse + Direction. For the hardware interface, it can be line drive or open collector.

Please reference Delta manual for details.

A : Select Pulse Command Type

0 : AB Phase Command

1 : Clockwise + Counterclockwise

PulseSign

2 : Pulse + Direction

Forward Rotation

PulseSign

PulseSign

PulseSign

Backward Rotation

PulseSign

PulseSign

A

B Input signal filter (Reference to manual .)

C Signal logic level (Reference to manual .)

D Hardware channel for command (Reference to manual .)

P1- 00 ABCD

The Command Filters

What’s the purpose for a command filter?

• For a reasonable position, speed, or torque command, it does not need any filter function added. On one hand, The filter can smooth the motion command which will help motor to run smoothly, but on the other hand, it will cause the response delay.

9

10

P-CommandUnit

S-CommandUnit

T-CommandUnit

S-CurveP1-36

Moving FilterP1-68

Command

Low Pass FilterP1-08

Moving Filter P1-59

S-CurveP1-34P1-35

P1-36

Low Pass FilterP1-06

Low PassFilter

P1-07

13

17

18

19

26

P1-68 Position Moving Filter

The Function of Moving Filter

• It can smooth a command with an idea of average. A delay time will occur when this function applied.

Before

MovingFilter

After

Moving Filter

Position

Command

Speed Curve

P1-68 Delay

Time

9

P1-08 Position Low Pass Filter

The sharp part of a command will be modified

• A delay time will be added to the

response.

10

Speed

Time

P1-08 Filter

Time

99.8%

99.8%

Command Before Low Pass

Filter

Speed Curve

Command After Low Pass

Filter

Position

Command

P1-46 Encoder Feedback Resolution

The host can get the position feedback

• The feedback resolution can be defined via P1-46.

11

PPPP1111----46 46 46 46 = = = = AAAA Host

ControllerCNCNCNCN1111OAOAOAOA, , , , ////OAOAOAOAOBOBOBOB, , , , ////OBOBOBOB Because the AB Because the AB Because the AB Because the AB

phase type of pulsephase type of pulsephase type of pulsephase type of pulse, , , , the host gets the host gets the host gets the host gets ((((4444****AAAA) ) ) )

pulse per turnpulse per turnpulse per turnpulse per turn....

Speed Control Mode

Speed Control Path

• Speed Command Unit, Speed Control Unit, Torque Control Unit, and Vibration & Suppression Unit

Speed Command

S-Control

Unit

T-Control

Unit

S-CommandUnit

Speed Feedback

Vibration &

SuppressionUnit

14

15

21

Speed Command Unit

Speed Command and Source Selection

• Analog and digital command selection, S-Curve Modifier, Low Pass filter, and Zero Speed Clamp

An

alo

g

Co

mm

an

d

Moving Filter P1-59

Scaling P1-40

Register Speed Command

SPD1 SPD0 Selection

0 0

10

1 0

11

0 or Analog

P1-09

P1-10

P1-11

Command

SelectionP1-01

S-CurveP1-34P1-35P1-36

Low Pass FilterP1-06

Zero SpeedClampP1-38

Speed Command

SPD1SPD0

Sz

Mode

S Mode

15

21

Speed Control Unit

Tuning the Speed Loop Gain

• Proportional Speed Loop Gain, Speed Integral Compensation, Speed Feed-Forward Gain, and Anti-Disturbance Gain

Proportional Gain P2-04

Gain Adjusting

P2-05

Gain

SwitchingP2-27

J-L RatioP1-37

DFeed Forward

Gain P2-07

Speed Command

Torque Command

I

Integral GainP2-06

Low Pass Filter P2-49

Encoder

Gain Switching

P2-27

Anti-disturbance Gain P2-26

6

12

15

21

P1-40 Speed Command Scaling

Define the analog speed command resolution and range

• The definition in P1-40 is always referring to 10V of analog command. An example of 3000 rpm is in P1-40 below.

16

P1-40 =3000 rpm

rpm

Control Command (V)

10V

-10V

- 3000 rpm

When the command is 5V, the speed command is 1500 rpm.

12 bits

Calculation for Command Resolution:2 ^ 12 = 4096, 0~11V ���� 2048 divisions 11V / 2048 = 5.37 mV/division

3000rpm *(11/10) / 2048 = 1.61 rpmThe command resolution is:1.61 rpm for every 5.37 mv.

11V-11V

P4-22 Zero

Position

Offset

It must

be adjusted

if the motor is creeping.

P1-36 S-Curve

Smooth the Speed Command

• Acceleration Time, Deceleration Time, and S Time

(P1-36)/2S-Curve

(P1-36)/2S-Curve

(P1-36)/2S-Curve

(P1-36)/2S-Curve

P1-34Acceleration

Time

P1-35Deceleration

Time

Speed

Time

Target Speed

13

17

P1-59 Speed Moving Filter

Smooth the Step-like Command

• For a step-like analog speed command, it is the best solution for smooth the command.

18

Command Command Command Command before filterbefore filterbefore filterbefore filter

Command Command Command Command after filterafter filterafter filterafter filter

PPPP1111----59595959Filter settingFilter settingFilter settingFilter setting

Delay timeDelay timeDelay timeDelay time

Speed Speed Speed Speed CommandCommandCommandCommand

P1-06 Speed Low-pass Filter

Trim the sharp-angle part of a speed command

• The low-pass filter will cause a delay time to the response. When it is 99.8% far from the target, it is hard to expect how long it will reach the target after this level.

TimeTimeTimeTime

SpeedSpeedSpeedSpeedBefore LowBefore LowBefore LowBefore Low ----pass pass pass pass

FilterFilterFilterFilter

After LowAfter LowAfter LowAfter Low----pass pass pass pass FilterFilterFilterFilter

99999999....8888%%%%

PPPP1111----06 06 06 06 Filter TimeFilter TimeFilter TimeFilter Time

PPPP1111----06060606 Filter Time Filter Time Filter Time Filter Time

99999999....8888% % % % to the to the to the to the target speedtarget speedtarget speedtarget speed

Position Position Position Position CommandCommandCommandCommand

19

P1-38 Zero Speed ClampRegard a command threshold as zero speed

• Zero Speed Setting = Speed Mode + Reach the Level Set in P1-38+ ZCLAMP DI Enable

• Bit 10 in P2-65 can determine if the motor will stop

immediately at the moment of all the conditions met.

• The DI function code of ZCLAMP is 0x05.

P1-38 Zero Speed Range

Command

ZCLAMP

Zero

Motor

Speed

Bit10 = 0, P2-65

P1-38 Zero Speed Range

Command

ZCLAMP

Zero

Motor

Speed

Bit10 = 1, P2-65

Accurate Position Smooth Speed

20

P1-09~P1-11 Reg. Speed Command

Setup the register speed command

• The register command can be used under Sz mode as well as S mode.

22

DI Signal

SPD1 SPD0Speed

Mode

0 0

0 1

1 0

1 1

S

Sz

S & Sz

S & Sz

S & Sz

Command Source

Analog Signal

Zero Speed

P1- 09

P1- 10

P1- 11

Torque Control Mode

Torque Control Path

• Torque Command Unit, Torque Control Unit, and Vibration & Suppression Unit

Torque Command

T-Control

Unit

T-Command

Unit

Current Feedback

Vibration &

Suppression

Unit

23

24

27

Torque Command Unit

Torque Command and Source Selection

• Analog and digital command selection, and Low Pass filter

An

alo

g

Co

mm

an

d

Scaling P1-41

Register Torque Command

TCM1 TCM0 Selection

0 0

10

1 0

11

0 or Analog

P1-12

P1-13

P1-14

CommandSelection

P1-01

Low Pass

FilterP1-07

Torque Command

TCM1TCM0

Tz

Mode

T Mode

24

27

P1-41 Torque Command Scaling

Define the analog torque command resolution and range

• The definition in P1-41 is always referring to 10V of analog torque command. An example of 300% torque is in P1-41 below.

25

P1- 41 =300 %

Torque in percentage

Control Command (V)

10V

-10V

- 300% rpm

When the command is 5V, the

torque command is 150%.

12 bits

11V-11V

Calculation for Command Resolution:

2 ^ 12 = 4096, 0~11V ���� 2048 divisions 11V / 2048 = 5.37 mV/division300% *(11/10) / 2048 = 0.161 %

The command resolution is:0.161% of rated torque for every 5.37 mv.

P4-23

Zero Position

Offset

It must be

adjusted if the host is zero

torque but servo

receiving torque command is not

zero.

P1-07 Torque Low-pass Filter

Trim the sharp-part of a torque command

• The low-pass filter will cause a delay time to the response. When it is 99.8% far from the target, it is hard to expect how long it will reach the target after this level.

26

TimeTimeTimeTime

Torque Torque Torque Torque ((((NNNN----mmmm)))) Before LowBefore LowBefore LowBefore Low ----pass pass pass pass FilterFilterFilterFilter

After LowAfter LowAfter LowAfter Low----pass pass pass pass FilterFilterFilterFilter

99999999....8888%%%%

PPPP1111----07 07 07 07 Filter TimeFilter TimeFilter TimeFilter Time

PPPP1111----07070707 Filter Time Filter Time Filter Time Filter Time

99999999....8888% % % % to the to the to the to the target torquetarget torquetarget torquetarget torque

Torque Torque Torque Torque CommandCommandCommandCommand

P1-12~P1-14 Reg. Torque Command

Setup the register torque command

• The register torque command can be used under Tzmode as well as T mode. For the Toque control mode, it is usually companied with a speed limit setting from P1-02.

28

DI Signal

TCM1 TCM0Torque

Mode

0 0

0 1

1 0

1 1

T

Tz

T & Tz

T & Tz

T & Tz

Command Source

Analog Signal

Zero Torque

P1- 12

P1- 13

P1- 14

SPD0

SPD1

P1- 09P1- 10P1- 11

Speed Limit under Torque Control Mode

P1-02=0x1

Thank You