SIMPLE TUNING ASDA-A2 & B2 SERVO SYSTEMS

About This Presentation

Intended Audience
This 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 Revision
Revision: 12/15/2011

The Contents
The Procedure Table
All the procedures for a simple tuning

Sharing Portions for All Control Modes

DI/O assignment, J/L ratio calculation, bandwidth tuning, and resonance suppression setting

Command Source Defining and All Filters

Command source selection and defining, and all filters for command smoothing

The Procedure for Simple Tuning

START
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) Stiffness tuning (ASDA-Soft or P2-31); The resonance suppression filter , P2-47 Position Mode Command Filters & Others 6 PT Mode 5 15 Speed Mode Command Filters & Others S Mode 21 Sz Mode 14 24 Torque Mode Command Filters & Others T Mode 27 Tz Mode 1 2 3 4 23

P1-44 and P1-45, The electronic 7 gear ratio P1-00, Pulse 8 Command Type P1-68, Command 9 Moving Filter P1-08, Low Pass Filter 10 P1-46, Encoder Feedback 11 Resolution

PR Mode 12 P1-44 and P1-45, The electronic 7 gear ratio P1-36, S-curve 13 Smoother P1-68, Command 9 Moving Filter P1-08, Low Pass Filter 10 P1-46, Encoder Feedback 11 Resolution

P1-40, Speed Command 16 Scaling P1-36, S-curve Smoother 17

P1-09 ~ P1-11, Speed Command 22 Settings P1-36, S-curve 17 Smoother

P1-41, Torque Command 25 Scaling P1-07, Low Pass Filter 26 P1-12 ~ P1-14, Torque Comd. 28 Settings

P1-12 ~ P1-14, Torque Comd. 28 Settings P1-07, Low Pass Filter 26

P1-59, Command P1-06, Low Pass Moving Filter Filter 18 19 P1-46, Encoder P1-06, Low Pass Feedback Filter 19 11 Resolution P1-38, Zero 20 Speed Clamp P1-46, Encoder Feedback 11 Resolution P1-09 ~ P1-11, Speed Command 22 Settings

The Cross Reference Table

Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14

Content P1-01, Control Mode DI/O Settings P1-37, J/L Ratio Bandwidth and Resonance Suppression Position Control Mode PT Mode P1-44/45, Electronic Gear P1-00, Pulse Command Type P1-68, Position Comm. Moving Filter P1-08, Position Comm. Low Pass Filter P1-46, Encoder Feedback Resolution PR Mode P1-36, Speed S-curve Smoother Speed Control Mode 6 7

Page

Item 15 16 17 18 19 S Mode

Content

Page 27,28,29 30 23,31 23,32 23,33 34 27,28,29 35 16,36 36,37 38 23,39 36,37 40

P1-40, Analog Speed Comm. Scaling P1-36, Speed S-curve Smoother P1-59, Speed Comm. Moving Filter P1-06, Speed Low Pass Filter P1-38, Analog Comm. Zero Speed Clamp Sz Mode P1-9~11, Register Speed Comm. Settings Torque Control Mode T Mode P1-41, Analog Torque Comm. Scaling P1-07, Torque Comm. Low Pass Filter Tz Mode P1-12~14, Register Torque Comm. Settings

8,9,11,12 10,11,13,14,15 16,17 17,18,19,29 20,21 22 23,24 23,25 26 17,18,19,29 23,31 16,27

20 21 22 23 24 25 26 27 28

P1-01 The Operation Modes

The Table Beside is for ASDA-A2 Most of the operation modes are shared by all series. Please reference to user manuals for details.
Mode PT PR 00 01 02 03 04 05 Dual Mode 06 07 08 09 0A 0B 0D 0E 0F S T Sz Tz Single Mode

CANopen Mode Multiple Mode

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.
Parameter for Function Table in Chapter 8 of physical signal DI_1 : manual : P2-10 0x01 Servo On 0x21 Emergency Stop Parameter for physical signal DO_1 : P2-18 Function Table in Chapter 8 of manual : 0x01 System Ready 0x02 Servo On

For Example: DI_1: Servo On P2-10 = 101 (Normally Open)

P2-10 = 001

For Example:
P2-18 = 101

DO_1: System Ready (Normally Open) DO_1: System Ready (Normally Close)

DI_1: Servo On (Normally Close)

P2-18 = 001

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.

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

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 P 1-37.

2 5 3 3 4 4 5 6

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 .

2 3

Semi-auto Tuning J/L and Stiffness

The 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 wouldnt turn to 1 eventually, it means this method does not work.
Start P2-47 =1, Auto resonance detection P2-32 =2, Semi-auto Tuning Mode P2-31 =40, The bandwidth Run the motor or system. 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.

3 4

Keep running the machine without doing anything.

FALSE If P2-33==1 ? Wait the system to get J/L ratio. If a system get J/L ratio, the P2-33 will be set to 1 True and P1-37 will be put the J/L ratio.

Raise P2-31 the bandwidth. If the FALSE Stiff enough? acoustic noise comes out from the motor, it means too high True of the End bandwidth .

Stop when performance satisfied. Do not use the extreme tuning. Leave some margin always better for the stability of a system.

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.
ECMAES, Jm= 277E kgTm= ECMA- C10604 ES, Jm=0.277E- 4 kg-m2, Tm=1. 27 N-m => T=J => 164. 607. (60 102ms 60* ms)) (164 .1-3.2)% x 1.27 = J x (607 .5 x 2 / (60* 102ms)) 27E 27E 277E 118. J = 3. 27E-3, J- L Ratio = 3. 27E-3 / 0. 277 E-4=118.28

164.1 % 102 ms S=607.5 rpm

3.2 % Kinetic Friction

Calculate J/L from Scope Trend (2)

The bandwidth can be set from ASDA-soft
1 . Fill inRatio 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 .

2 3

The Whole Picture of Notch Filters

Auto 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)
Notch Filter
A2, B2 Only

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)

P2-43 Resonance Frequency 50~2000 Hz

P2-45 Resonance Frequency 50~2000 Hz

P2-47 Notch Mode Selection 0: Manual 1: One Time Deal 2: Continuously Searching Range : P2-04 ~ 2000 Hz

P2-24 Attenuation Rate 0~32 dB

P2-44 Attenuation Rate 0~32 dB

P2-46 Attenuation Rate 0~32 dB

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 -3 -5 -10 -15 -20 -30 -32

% 100 70.79 56.23 31.62 17.78 10.00 3.16 2.51

The Skeleton of Control Mode

Multiple Cascaded Loops Position Mode, Speed Mode, and Torque Mode.
Position Command
P-Command Unit

5 14 23

Speed Command
S-Command Unit

Torque Command
T-Command Unit

P-Control Unit

S-Control Unit

T-Control Unit

Vibration & Suppression Unit

P-Feedback Unit

S-Feedback Unit

T-Feedback Unit

Position Loop

Speed Loop

Current Loop

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-Command Unit

6 12

Position Feedback

P-Control Unit

S-Control Unit

T-Control Unit

Vibration & Suppression Unit

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.
High Frequency Signal Low Frequency Signal
Exclude B,B2

6 12

A2, B2 Only

Electronic Gear Ratio Pulse Inhibition Pulse Type Selection P1-00 PT/PR or P1-01 Control Mode P1-01
GNUM1 0 0 1 1 GNUM0 0 1 0 1 Nominator P1-44 P2-60 P2-61 P2-62

INHP

Denominator P1-45 Command Low Pass Filter P1-08 Position Control Unit

Internal PR Command

S-Curve P1-36

Moving Filter P1-68

A2, B2 Only

Position Control Unit

Tuning the Position Loop Gain Proportional Position Loop Gain, Position Integral Compensation, Position Feed Forward Gain
Position Feed Forward Gain P2-02 Smooth Constant of Position Feed Forward Gain P2-03 Maximum Speed Limit P1-55 Gain Swithing P2-01 Gain Switching Control Selection P2-27 Encoder Speed Command

6 12

Position Command I

Proportional Position Loop Gain P2-00

A2, B2 Only

Position Integral Compensation P2-53

Position Counter

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.
Pulse Command P1-44, P1-45 Electronic Gear Ratio PUU External PUU Command Internal PUU Command Motor Feedback PUU

The Electronic Gear will alter the resolution of command, and the number of pulse command wouldnt 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.

Pitch: 10 mm

Command Resolution Request: 0.001 mm / PUU 10 mm / 0.001 mm = 10000 PUU for every pitch P1-44 P1-45 1280000 2 10000 x 5
Gear Ratio 2:5 Encoder Resolution: 1280000 Pulse / Revolution

The Pulse Command Type

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. P1- 00 D C B A A
A : Select Pulse Command Type Forward Rotation Backward Rotation 0 : AB Phase Command 1 : Clockwise + Counterclockwise 2 : Pulse + Direction
Pulse Sign Pulse Sign Pulse Sign Pulse Sign Pulse Sign Pulse Sign

B C D

Input signal filter (Reference to manual.) Signal logic level (Reference to manual .) Hardware channel for command (Reference to manual .)

The Command Filters

Whats 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.
P-Command Unit S-Curve P1-36 S-Command Unit Moving Filter P1-59 S-Curve P1-34 P1-35 P1-36 Low Pass Filter P1-06 T-Command Unit Low Pass Filter P1-07

10 13 17 18 19 26

Moving Filter P1-68 Command Low Pass Filter P1-08

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 Moving Filter

After Moving Filter Position Command

P1-68 Delay Time

Speed Curve

P1-08 Position Low Pass Filter

The sharp part of a command will be modified A delay time will be added to the response.
Speed 99.8% Command Before Low Pass Filter Command After Low Pass Filter

10

Position Command

P1-08 Filter Time

Speed Curve

99.8% Time

P1-46 Encoder Feedback Resolution

The host can get the position feedback The feedback resolution can be defined via P1-46.

11

P1-46 = A
CN1 CN1 OA, OA, /OA OB, OB, /OB

Host Controller Because the AB pulse, phase type of pulse , the host gets (4*A) turn. pulse per turn.

Speed Control Mode

Speed Control Path Speed Command Unit, Speed Control Unit, Torque Control Unit, and Vibration & Suppression Unit
Speed Command
S-Command Unit

14 15 21

Speed Feedback
Vibration & Suppression Unit

S-Control Unit

T-Control Unit

Speed Command Unit

Speed Command and Source Selection Analog and digital command selection, S-Curve Modifier, Low Pass filter, and Zero Speed Clamp
S Mode
Register Speed Command
SPD1 SPD0 Selection 0 or Analog P1-09 P1-10 P1-11

15 21

Sz Mode

0 0 1 1

0 1 0 1

SPD1 SPD0

Analog Command

Scaling P1-40

Moving Filter P1-59

Command Selection P1-01

S-Curve P1-34 P1-35 P1-36

Low Pass Filter P1-06

Zero Speed Clamp P1-38

Speed Command

Speed Control Unit

Tuning the Speed Loop Gain Proportional Speed Loop Gain, Speed Integral Compensation, Speed Feed-Forward Gain, and Anti-Disturbance Gain
D Feed Forward Gain P2-07 Gain Switching P2-27

6 12 15 21

Speed Command I Integral Gain P2-06

Proportional Gain P2-04

J-L Ratio P1-37

Gain Adjusting P2-05

Torque Command Anti-disturbance Gain P2-26 Encoder Low Pass Filter P2-49

Gain Switching P2-27

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 P140 below. rpm
P1-40 = 3000 rpm
When the command is 5V, the speed command is 1500 rpm.

16

P4-22 Zero Position Offset It must be adjusted if the motor is creeping.

-10V

10V

Control Command (V) Calculation for Command Resolution: 2 ^ 12 = 4096, 0~11V 2048 divisions 11V / 2048 = 5.37 mV/division 3000rpm *(11/10) / 2048 = 1.61 rpm The command resolution is: 1.61 rpm for every 5.37 mv.

- 3000 rpm

12 bits -11V 11V

P1-36 S-Curve
Smooth the Speed Command Acceleration Time, Deceleration Time, and S Time
Speed Target Speed

13 17

Time P1-34 Acceleration (P1-36)/2 (P1-36)/2 Time S-Curve S-Curve P1-35 Deceleration (P1-36)/2 Time (P1-36)/2 S-Curve S-Curve

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

P1-59 Filter setting Delay time Speed Command

Command before filter Command after filter

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.
Speed 99. 99. 8% Before Low -pass Filter After Low -pass Filter Position Command 99. 99. 8% to the target speed

19

Time

P1 -06 Filter Time

P1-06 Filter Time

P1-38 Zero Speed Clamp

20

Regard 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.
Motor Speed Command ZCLAMP Command Motor Speed ZCLAMP

P1-38 Zero Speed Range Zero

P1-38 Zero Speed Range Zero

Bit10 = 0, P2-65 Accurate Position

Bit10 = 1, P2-65 Smooth Speed

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.
DI Signal SPD1 SPD0 Speed Mode S 0 0 1 1 0 Sz 1 0 1 S & Sz S & Sz S & Sz Zero Speed P1- 09 P1- 10 P1- 11 Command Source Analog Signal

22

Torque Control Mode

Torque Control Path Torque Command Unit, Torque Control Unit, and Vibration & Suppression Unit
Torque Command
T-Command Unit

23 24 27

Current Feedback
Vibration & Suppression Unit

T-Control Unit

Torque Command Unit

Torque Command and Source Selection Analog and digital command selection, and Low Pass filter
T Mode
Register Torque Command
TCM1 TCM0 Selection 0 or Analog P1-12 P1-13 P1-14

24 27

Tz Mode

0 0 1 1

0 1 0 1

TCM1 TCM0 Command Selection P1-01

Analog Command

Scaling P1-41

Low Pass Filter P1-07

Torque Command

25

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.
Torque in percentage

P1- 41 = 300 %

When the command is 5V, the torque command is 150%.

P4-23 Zero Position Offset

-10V

10V

Control Command (V) Calculation for Command Resolution: 2 ^ 12 = 4096, 0~11V 2048 divisions 11V / 2048 = 5.37 mV/division 300% *(11/10) / 2048 = 0.161 % The command resolution is: 0.161% of rated torque for every 5.37 mv.

It must be adjusted if the host is zero torque but servo receiving torque command is not zero. -11V

- 300% rpm

12 bits 11V

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.
Torque (N-m) Before Low -pass Filter 99. 99. 8%

26

After Low -pass Filter 99. 99. 8% to the target torque Time P1-07 Filter Time

Torque Command

P1 -07 Filter Time

28

P1-12~P1-14 Reg. Torque Command

Setup the register torque command The register torque command can be used under Tz mode as well as T mode. For the Toque control mode, it is usually companied with a speed limit setting from P1-02.
DI Signal TCM1 TCM0 Torque Mode T 0 0 1 1 0 Tz 1 0 1 T & Tz T & Tz T & Tz Zero Torque P1- 12 P1- 13 P1- 14 SPD0 SPD1 P1- 09 P1- 10 P1- 11 Command Source Analog Signal

Speed Limit under Torque Control Mode

P1-02=0x1

Thank You