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TB303 Rev1 Delta ASDA A2 Step and Direction Setup for Acorn CNC Controller
Purpose
This tech bulletin explains the steps that are needed in order to properly configure the Delta ASDA A2 servo drives with
the Centroid Acorn based control
Requirements
ASDA A2 Drive Manual
Windows PC with Delta A2 Software and Centroid CNC12
USB cable Γ’οΏ½οΏ½ may need an additional USB extension cable
Download links
Centroid CNC12
http //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
Delta Software
http //www delta com tw/product/em/motion/motion_servo/download/software/ASDA_Soft_V4 08 05_Install_Edition 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 there will be a shortcut on the desktop
3 Double click the ASDA shortcut to start the Delta 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 software
5 Start ASDA software
a 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 settings If it's not successful try powering off and back up again After it
has autodetected click OK Notice that the drive has now come online
Configuring and Tuning Delta ASDA A2 Drives
1 ALWAYS begin by setting the drive back to the factory default 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 There 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 rebooted before they take effect remove power from the drive wait 10
seconds and then power the drive back up If the menu 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 operation
Note Γ’οΏ½οΏ½ Use the tabs at the top of the Parameters Editor screen to select the Parameter Group 01 02 etc for editing
P01 00 0x0102 Type of pulse
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 encoder line count
P01 45 1024 Centroid pulse ratio
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 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 software If the menu bar at the top of the screen indicates "OFF Line"
click it to toggle the drive online
6 To 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 position you wish to move to while tuning
f Click the "Position 1" button
g Use the arrow button s to jog to the second position you wish to use for tuning
Note Γ’οΏ½οΏ½ It should be a couple of inches from the first position
h Click "Position 2" button
I Click Γ’οΏ½οΏ½StartΓ’οΏ½οΏ½ 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’οΏ½οΏ½Set JΓ’οΏ½οΏ½
b Click "Compute"
c Click the Γ’οΏ½οΏ½===>>Γ’οΏ½οΏ½ button in the bottom section of the screen to send the data to the drive
Note Γ’οΏ½οΏ½ You can generally use the auto calculated values for Bandwidth 52hz and Ratio of Inertia 4 7 without trouble
It may be necessary particularly on bigger machines 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 Tuning window Close the Delta software and cycle power to the drive
9 Run Acorn Setup Wizard and set Steps/Rev to 4096