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TB264 Rev4 Delta ASDA A2 U Precision Mode Setup
Purpose
This tech bulletin explains the steps that are needed in order to properly configure the Delta ASDA A2 U servo drives as
well as CNC11 software for Precision Mode
Requirements
ASDA A2 Drive Manual
Windows PC with Delta A2 Software
USB cable Γ’ may need an additional USB extension ca ble
CNC11 system with Optic Direct or OAK installed run ning CNC11 v3 09r15 or higher and having the correc t PLC
program loaded
Download links
CNC11
http //www ajaxcnc com/ajax cnc software downloads/ for latest revision of software
Delta Software
http //www delta com tw/product/em/motion/motion_se rvo/download/software/ASDA_Soft_V4 08 05_Install_Ed ition zip
Delta A2 Manual
http //www delta com tw/product/em/motion/motion_servo/download/manual/DELTA_ASDA A2_M_EN_20130315 pdf
Installing and Configuring of Delta Software
1 Copy the ASDA_Soft_V4 08 05_Install zip file to the PC which will be used to connect to the Delta drive
2 Double click the ASDA_Soft_V4 08 05_Install zip file to open it and then double click the ASDA_Soft V4 0805 msi file
to install making sure to install everything to the default locations selected by the software
Once the software has completed the installation t here will be a shortcut on the desktop
3 Double click the ASDA shortcut to start the Delt a software The first time the software is run you will be prompted to
install USB drivers Install the USB drivers shut the PC off and then power the PC back up with USB cable
disconnected
4 Plug the USB cable into the Delta drive as well as the PC Windows may indicate that it is installing drivers when you
reboot Let it complete before starting the ASDA so ftware
5 Start ASDA softwarea Select a language
b Click on the "COM Port Setting" tab
c Click on the down arrow of the drop down box
d Scroll down and select ASDA A2
e Click OK
6 Click autodetect to configure your com port sett ings If it's not successful try powering off and back up again After it
has autodetected click OK Notice that the drive h as now come online
Configuring and Tuning Delta ASDA A2 Drives
1 ALWAYS begin by setting the drive back to the factory def ault configuration
a Select "Parameter Function" from the menu bar at the top of the screen
b Select "Parameters Editor" from the drop down
c When the editor screen fills it fills with the default settings for the drive Click the icon with the arrow pointing
at the drive to send the default parameters to the drive
d Select "Write All Parameters" when prompted The re may be a few errors about being unable to write certain
parameters but it's safe to ignore those errors
2 Since some parameters require the drive to be re booted before they take effect remove power from t he drive wait 10
seconds and then power the drive back up If the m enu bar at the top of the screen indicates "Off Line" click on it to
toggle the drive to "On Line"
3 As in step 1 open the "Parameters Editor" from the "Parameter Function" tab and set the following parameters to
configure the Delta drive for precision mode operat ion
Note Γ’ Use the tabs at the top of the Parameters Editor sc reen to select the Parameter Group 01 02 etc for editing
P00 03 0x10 Analog output monitor represents motor torque
P01 00 0x1000 Encoder is AB pulse output
P01 01 0x0100 Precision mode control
P01 40 3000* Motor max commanded RPM Depends on motor
P01 41 200 Max analog torque command
P01 44 320000 Encoder output pulses**Delta enco der line count
P01 45 8192 Centroid pulse input ratio
P01 46 8192 Encoder output pulses**
P01 55 3000* Max allowed RPM of motor Depends on motor
P02 10 0x0101 DIO1 Drive Enable
P02 11 0x0000 DIO2 not used
P02 12 0x0000 DIO2 not used
P02 13 0x0000 DIO3 not used
P02 14 0x0102 DIO5 Reset Servo Drive
P02 15 0x0000 Disable + limit switch
P02 16 0x0000 Disable limit switch
P02 17 0x0000 Disable EMGS function
P02 21 0x0108 DO4 Motor Brake Output
P02 22 0x0007 DO5 Motor Alarm Output
P02 32 0x0000 Continuous tuning mode
P02 33 0x0000 Semi auto mode inertia adjustment
P02 47 0x0000 Auto resonance suppression
P02 66 0x0004 Auto reset undervolt error
After all the parameters above have been set click the icon with the arrow pointing at the drive to send the parameters to
the drive Select "Write All Parameters" There may be a few errors about being unable to write certain parameters but
it's safe to ignore those errors
4 Unplug the power from the drive and plug it back in to reboot the drive
5 When the drive is back up restart the ASDA soft ware If the menu bar at the top of the screen indicates "OFF Line"
click it to toggle the drive online
6 Tune the Delta drives a Select "Tools" from the menu bar
b Click "Auto Gain Tuning" from the drop down
c Check the box for "Enable Gain Control Panel"
d Click "Servo On"
e Use the arrow button s to jog to the first posi tion you wish to move to while tuning
f Click the "Position 1" button
g Use the arrow button s to jog to the second pos ition you wish to use for tuning
Note Γ’ It should be a couple of inches from the first posi tion
h Click "Position 2" button
I Click Γ’StartΓ’ to begin tuning
7 Watch the value in Est Jl/Jm box at the bottom of the screen When it stops changing less than a minute you can
stop the auto tune a Click Γ’Set JΓ’
b Click "Compute"
c Click the Γ’===>>Γ’ button in the bottom section o f the screen to send the data to the drive
Note Γ’ You can generally use the auto calculated values fo r Bandwidth 52hz and Ratio of Inertia 4 7 without trouble
It may be necessary particularly on bigger machine s to manually adjust the Bandwidth closer to 100Hz and the Ratio of
Inertia to 1 or 2 but try using the autocalculated values first
8 Turn off "Servo On" and close the Auto Gain Tuni ng window Close the Delta software unplug power f rom the drive
and plug it back in to reboot the drive
CNC11 Control Configuration
1 When all the Delta drives have been tuned and the parameters have been SAVED to the drives in the Delta
software start the CNC11 software a From the main screen press F1 Setup Γ’F3 Config Γ’default password is
137 Γ’F2 Mach Γ’F2 Motor
b Set the Γ’Encoder Counts/RevΓ’ to 32768 for all axes and then press F10 Save
c Press ESC once Γ’ F3 Params Γ’ F8 Next Table until it's at P200 P299 page
d Set parameter 256 to 2 to enable precision mode and press F10 Save
e Press F4 PID Γ’ F1 PID Config
f Set Kp Ki and Kd to 0 for all axes Note Γ’ Do NOT set the Accels to 0 or you will not be able to
move the machine Leave these set to 0 5
2 Use the ASDA software to jog the motors as in step 6 above In the PID menu confirm that the Abs Pos field
is increasing when the shaft is moving counter clockwise
3 In the PID menu press F5 Tune and then press C ycle Start
Load Meter Setup
1 If using the OAK board all that is needed is th e Delta interface cable for the OAK board Centroid part number 13131
If using the OpticDirect boards please verify that the OpticDirect board has the analog section popul ated as shown in the
photo below
2 Verify that the following is defined in the PLC program Note Γ’ The input and word definitions may vary dependin g on
the component that is being used to read the analog torque voltage from the Delta drive as well as what is already being
defined in the PLC program
Input Definitions
AnalogInput1 IS INP241
AnalogInput2 IS INP257
AnalogInput3 IS INP273
AnalogInput4 IS INP289
AnalogInput5 IS INP305
Word Definitions
XMeterADC_W IS W14
YMeterADC_W IS W15
ZMeterADC_W IS W16
AMeterADC_W IS W17
SpindleMeterADC_W IS W20
Main Stage
IF true THEN BTW XMeterADC_W AnalogInput1 16 BTW YMeterADC_W AnalogInput2 16
BTW ZMeterADC_W AnalogInput3 16
BTW AMeterADC_W AnalogInput4 16
BTW SpindleMeterADC_W AnalogInput5 16
IF XMeterADC_W > 32767 THEN XMeterADC_W = XMeterADC _W Γ’ 65536
IF YMeterADC_W > 32767 THEN YMeterADC_W = YMeterADC _W Γ’ 65536
IF ZMeterADC_W > 32767 THEN ZMeterADC_W = ZMeterADC _W Γ’ 65536
IF AMeterADC_W > 32767 THEN AMeterADC_W = AMeterADC _W Γ’ 65536
IF SpindleMeterADC_W > 32767 THEN SpindleMeterADC_W = SpindleMeterADC_W Γ’ 65536
; TODO Pre compute constants in initial stage
; The Delta drives put out +/ 8V at max torque
; The spindle is +/ 10V
IF true THEN XMeterADC_W = 100 * XMeterADC_W / 16 38
YMeterADC_W = 100 * YMeterADC_W / 1638
ZMeterADC_W = 100 * ZMeterADC_W / 1638
AMeterADC_W = 100 * AMeterADC_W / 1638
SpindleMeterADC_W = 100 * SpindleMeterADC_ W / 2048
IF true THEN SV_METER_1 = abs XMeterADC_W SV_METER_2 = abs YMeterADC_W
SV_METER_3 = abs ZMeterADC_W
SV_METER_4 = abs AMeterADC_W
SV_METER_6 = abs SpindleMeterADC_W
3 Verify that parameters 35 57 137 143 and 313 are set correctly
Parameter 35
This is the axis that is assigned as your spindle axis By default it should be set to 6
Parameter 57
This is bit based parameter that tells the CNC11 so ftware which axes to turn the load meters on for
Axis1 2 3 4 5 6 7 8
Bit 0 1 2 3 4 5 6 7
Value 1 2 4 8 16 32 64 128
For example we have a 3 axis system with a spindle in which it is desired to see the load meters of all the axes
as well as the spindle Therefore bits 0 1 2 an d 5 would be set That means that parameter 57 woul d be a
value of 1+2+4+32 = 39
Parameter 137
This parameter tells the CNC11 software how many sa mples to use when calculating the average output for the
load meter display By default it should be set to 0 but if the load meter jumps around a lot with it set to 0 this
parameter can be adjusted to minimize the amount of Γ’jumpinessΓ’ of the load meter display
Parameter 143
This is another bit based parameter that controls t he display of the axis load meters By default it should be set
to 0 which enables the load meters as well as the D istance to Go DRO and provides an outline for the load
meters
Parameter 313
This parameter tells the CNC11 software which encod er input to look at for the 6
th axis which is the spindle axis
that was set by parameter 35 By default it should 6
Document History
Rev4 Created on 2016 01 04 by #270
Rev3 Created on 2015 02 12 by #397
Rev2 Created on 2013 04 03 by #277
Rev1 Created on 2013 02 08 by #000