Simple Tuning ASDA-A2&B2 Servo Systems
Transcript of Simple Tuning ASDA-A2&B2 Servo Systems
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