Content Preview
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Overview This document will guide the user through the initial setup of the HICKORY Motion Control
PCB and Inovance SV660N drives
The HICKORY is an integrated PLC and motion control processor HICKORY uses an Ethernet based
fieldbus to communicate with all accessories over RJ45 shielded twisted pair Ethernet cables The new
protocol and connection scheme are the defining features of HICKORY versus previous products such
as OAK
HICKORY communicates with a host PC over Ethernet connection Drives and peripherals PLC
expansion boards Operator’s Control Panel etc are connect in a daisy chain format with the first Drive
connected to the HICKORY’s fieldbus output and subsequent drives and peripherals chained down from
the first Drive
A typical configuration would be connected as HICKORY → Axis 1 → Axis 2 → Axis 3 → Axis 4 → Axis
5 → Axis 6 → Axis 7 → Axis 8 → Operator’s Control Panel
Typical Mill/Router Axis 1 = X → Axis 2 = Y → Axis 3 = Z → Axis 4 = Y2 paired motor to Y1 → Axis 5
A rotary axis → Operator’s Control Panel
Typical Lathe Axis 1 = Z → Axis 2 = X →Axis 3 = Y → Axis 5 C rotary axis → Operator’s Control Panel
HICKORY supports up to 8 drives and 8 peripherals for a total of 16 devices chained together
When Using any Hickory Expansion boards place them at the beginning of the chain
Example Ecat1616 i/o expansion → ENCEXP13 encoder port expansion → HICKORY → Axis 1 →
Axis 2 → Axis 3 → Axis 4 → Axis 5 → Axis 6 → Axis 7 → Axis 8 → Operator’s Control Panel
Supported Drives
• Yaskawa TB322 • Estun Summa TB317
• Teknic ClearPath EC TB332 • Inovance SV660N TB329 This document
• Delta ASD B3A E TB330
• Delta ASD B3 E TB330 • LS Electric iX7NH TB335
• LeadShine EL8 EC TB324
• Leadshine EL7 EC TB323
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 1 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Required software
• CNC12 Centroid CNC control software
◦ https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
• InoDriveShop software Inovance drive setup and tuning software
◦ Installer included in the “Inovance Reference Materials” below
Supporting documents
• HICKORY DIY Installation Manual
◦ https //www centroidcnc com/centroid_diy/downloads/hickory/
centroid_hickory_cnc_install_manual pdf
• S15211 Mill 220VAC HICKORY Inovance SV660N Drives Generic Inverter VFD schematic
◦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=S15211
• TB301 – Using Absolute Encoders Absolute encoder configuration
◦ https //www centroidcnc com/dealersupport/tech_bulletins/uploads/301 pdf
• Inovance Reference Materials
◦ http //www centroidcnc com/centroid_diy/downloads/hickory/
inovance_ethercat_drive_setup_hickory zip
▪ Start up procedure SV660N
▪ Advanced User Guide SV660N Series Servo Drive
▪ InoDriveShop Software
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 2 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
1 Hickory Bench Test
a Wire the provided power supply according to Schematic #15226
https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=15226
b Connect a shielded Ethernet cable from the PC on which CNC12 was installed to the HICKORY’s
BeagleBone Ethernet jack
c Do not connect drives at this point
d Connect power supply terminal block to H19 and power ON the board All input state LEDs should be
red
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 3 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
The yellow and green LEDs on the BeagleBone’s Ethernet jack will be lit The green LED will flash after
CNC12 starts LED1 on Hickory will cycle between the three horizontal segments of the display after a
few seconds
2 Install CNC12 Hickory software
a Download the latest CNC12 version here
https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
b Unzip and then double click centroid_cnc12_v5 xx_installer exe
c Make sure the Hickory is powered on and the Ethernet cable is connected between Hickory
and PC
d Go through installation procedure and when prompted to install a PLC program click YES and
select “Hickory” then “_Centroid_Standard”
e Open CNC12 and verify that a connection is established between HICKORY and PC
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 4 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
3 Control Configuration
From the main screen press F1 Setup → F3 Config The password is 137 Press F1 Contrl
1 Set the units of the machine change both DRO display units and Machine units to either
Inches or Millimeters with the space bar;
2 Set Max Spindle speed to 3000 and Min Spindle to 0 ;
3 Change Machine home at power up to the desired home configuration;
4 If no Jog Panel is being used disable it This step is only required if you do not have a Jog
Panel in which case the Jog Panel Type can be changed to Virtual
5 Select Jog Panel Required in the Control Configuration and press the space bar to change to
No Press F10 Save
6 Press ESC several times to return to the main menu then press F7 Utility → F8 Import
License and navigate to your license file This is critical for machines with paired axes as you
will not be able to set up pairing without installing the license
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 5 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
4 Auto detect Drives and Motors
a Exit CNC12 and power OFF HICKORY
b Follow Schematic S15211 Mill 220VAC HICKORY Inovance SV660N Drives Generic Inverter
VFD https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=S15211
c Connect Inovance SV660N drives to HICKORY
d Power up the Inovance Drives
Note The drives should be on before applying power to HICKORY
e Power up HICKORY
This screen will appear upon CNC12 boot up letting you know that CNC12 has detected any
EtherCat Drives on the daisy chain
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 6 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
5 Program Inovance drives
Prerequisites
The following items are needed
• Computer with InoDriverShop installed Version 3 7 1 8 was used for this document
• A to Mini B type USB cable Inovance part number S6 L T00 3 0 – connected between the PC
and the Inovance drive you wish to setup
• RS232 to serial converter Manhattan USB to RS232 Serial adapter 205153 is one option known
to work well
Servopack Configuration Process
• Launch the InoDriverShop software
• You will see the following screen
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 7 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
• Start a new project
• Select SV660N Series
• Select correct Serial Port
• Press “Next Page”
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 8 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
• Scan may take a while but should show the drive in the chart when complete
• Press “Finish”
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 9 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
* Main screen appears
* Press “Connet” button
* Press Recover to “default value” press “Yes” in warning dialog
* Press “Program reset” details in “Start up procedure SV660N” 6 4 2
* Double click “Param List”
* Change settings by double clicking “Setting value field”
* Change H09 00 Gain auto tuning mode to 2 [ Positioning mode gain parameters generated
automatically based on stiffness level]
* Change H02 01 Absolute system selection to 1 [Absolute position linear mode]
* Change H0D 20 Absolute encoder reset selection to 2 [Reset encoder faults and multi turn data]
*Press “Write all Except groups H00 and H01 ”
*Accept warning dialogs and cycle drive power
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 10 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 11 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Bench Test Motor Jogging with Inovance Software
For testing on the bench wire up the Inovance drives according to schematic #15211
https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=S15211
a Temporarily manually Release any axis motor brakes! For motors with a holding brake which is
controlled by Hickory via an output relays then use the arrow keys to navigate to the correct output and
force it as well In our example the Z axis holding brake is OUT9 in stock Centroid Hickory PLC
programs Be aware of the Z axis dropping due to gravity if E Stop is toggled with the brake off
b With the Hickory powered ON open CNC12 and press ALT + I to open the PLC Inspector screen
c Note if no physical Estop has not been wired you can force the Emergency Stop circuit to apply motor
power to the drives Go to OUT1 using the arrow keys on the keyboard and press Ctrl + Alt + F once
Notice OUT1 is now green and has an underline which means its current state is being forced This will
close the E Stop contactor and provide motor power to the drive for further setup
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 12 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
3 With CNC12 running and OUT1 forced on go back into InoDriverShop software and click on "Position
JOG"
4 Press "Enable ON" then jog each direction a few times to verify operation
• If everything is working correctly you should have smooth motion of the Servomotor Press
"Enable OFF" and close the Position Jog tab when complete
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 13 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Drive Tuning
• Press "Inertia identification" at the top of the screen
• Press ">>"
• Press "Servo ON"
• Press "Forward" and "Reverse" several times until the values in the dialog are stable
• Press "Servo Off" "Download" and "OK" in "Download Success" dialog box
• Close "Inertia identification" window
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 14 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Configure CNC12 Axes
1 Axes Labels
From the main menu press F1 Setup → F3 Config Password is 137 Press F2 Mach →
F2 Motor
Under Label configure the software for the correct number of axes and label them appropriately
Typical set ups
Machine
Type Axis 1
Label Axis 2
Label Axis 3
Label Axis 4
Label
Mill 3 axis X Y Z
Gantry
paired Y X Y Z W
Lathe 2
axis Z X
Any unused axes should be set to N to disable the axis as seen in Figure below
*** You may need to set direction reversal on the slaved axis for a paired axis machine Refer to the
following diagram to determine based on motor orientation
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 15 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Navigate to Dir Rev column with arrow keys and press spacebar to change value to “Y”
When finished press F10 Save to save changes and leave the menu
Special Instructions for Paired Axes
DO NOT Inovance Auto Tune or Centroid Drive Delay AUTO TUNE any PAIRED AXES S ee the
special tuning instructions for paired axes
Setting up software paired axes Set parameter 64 to the appropriate value to software pair the axis
drives See the table below
This will allow you to test jog the paired axes on the bench/disconnected from the machine we will
square/snyc them later
1 From CNC12 main menu press F1 Setup → F3 Config → enter password “137” → F3
Parms and use the arrow keys or mouse to navigate to parameter 64
2 Set parameter 64 to the value from the following table that corresponds with your machine
configuration
Function Description Value
No Pairing Default 0
Pair 4 th
axis with 1 st
axis 1
Pair 4 th
axis with 2 nd
axis 2
Pair 4 th
axis with 3 rd
axis 3
Pair 5 th
axis with 1 st
axis 16
Pair 5 th
axis with 2 nd
axis 32
Pair 5 th
axis with 3 rd
axis 48
Pair 5 th
axis with 4 th
axis 64
3 Press F10 Save to save and exit parameters menu
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 16 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
2 Drive Mapping
From the main menu pres F1 Setup → F3 Config Password 137 Press F3 Parms → F8
Next Table until parameters 300 – 399 are displayed
Typical configuration for a three axis CNC is to set parameters
300 = 1 301 = 2 302 = 3
308 = 7 309 = 8 310 = 9
Typical configuration for a four axis CNC is to set parameters
300 = 1 301 = 2 302 = 3 303 =4
308 = 7 309 = 8 310 = 9 311 =10
Note that on HICKORY Axis Encoder Index parameters start at 7
If you have a spindle encoder be sure it is plugged into the Encoder 1 header on the HICKORY
board and set the following parameters
Parameter 34 = “Spindle encoder counts/rev” not shown in figure
Parameter 35 = 8 “Spindle Axis Number” not shown in figure
Parameter 78 = 1 “Spindle Speed Display and Operations” not shown in figure
Parameter 315 = 1 “Axis 8 Encoder Index”
3 Set Drive Mode to Precision
Still in the parameters menu press F8 Next Table or F7 Prev Table until parameters 200 299 are
displayed Set parameter 256 to 2
4 Set the Baseline Precision Mode Axis Delay Default Values
Still in the parameters menu press F8 Next Table or F7 Prev Table until parameters 340 347 are
displayed Set parameters for all used axes to 5 This will give a baseline delay value to use until the
system is ready to use autotune to calculate the correct values
Hickory runs in precision mode These delay values synchronize each drive to compensate for delays
caused by differences in axis response The values are in milliseconds with 0 25 millisecond resolution
These values will be set automatically be Centroid’s Drive Delay Autotune feature and can also be hand
tuned Information on both is further on in this document
5 Set the Master Drive Enable Delay
Still in the parameters menu navigate to parameter 981 and set it to 2000
Press F10 Save to save parameter changes and exit to the previous menu
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 17 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
6 Initial Setup for Absolute Encoders
Set machine parameter 316 Absolute Encoder Bits appropriately Refer to the examples for
common configurations The adder value is calculated from the encoder axis index that has an absolute
encoder installed The formula is adder=2index−1 and calculations are of this form
axis1adder=27−1=64
Thus the value of P316 is the sum of the adders for each axis with an absolute encoder installed
For Hickory this will be all of the axes
Parameter 316 examples
1 axis = 64 5 axis = 1984 1024+960
2 axis = 192 128+64 6 axis = 4032 2048+1984
3 axis = 448 256+192 7 axis = 8128 4096+4032
4 axis = 960 512+448 8 axis = 16320 8192+8128
Press F10 Save to save parameter changes and exit to the previous menu
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 18 of 36Axis Number Axis Encoder index P316 adder
1 7 64
2 8 128
3 9 256
4 10 512
5 11 1024
6 12 2048
7 13 4096
8 14 8192
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
7 Set encoder counts/rev
Go to F1 Setup → F3 Config → F2 Mach → F2 Motor Set counts/rev to 1048576
SV660N drives will be set to report 20 bit position to Hickory when using 23 bit encoders
Press F10 Save to save changes
After making all the changes in this section power cycle Hickory and Drives
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 19 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
6 Confirm Encoder Feedback
1 Push in the E Stop switch to disable motors
2 From the main menu press F1 Setup → F3 Config Password is 137 Press F4 PID
3 If possible manually rotate each motor while watching the abs pos field circled below for that
axis as seen in the figure below Confirm that you have smooth feedback on all axes and that X
updates the X DRO Y updates Y DRO etc
Note this may not be possible if the motor has a brake for these axes skip this section
4 Confirm that the absolute position increases while rotating the shaft counter clockwise as
shown in figure below
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 20 of 36Rotating the shaft counter
clockwise increases the value
in the “Abs Pos” field of the
PID Menu
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
7 Clear Outstanding Software Faults
Clear Any Existing Faults Before Continuing To confirm that all faults have been cleared
before continuing press F3 MDI from the main menu If all faults have been cleared correctly the screen
should look like in the figure below
Troubleshooting If the screen shown in the figure above is not displayed there is an existing
fault Check the status window to determine the cause of the fault fix it and try again
If you do not know the cause of the fault confirm that all parameters are set as described in
previous sections and that all inputs are in the correct state Also confirm your drive is wired
correctly and configured to work with the HICKORY
CNC12 keeps a log file containing all errors and faults along with the time and date that these
errors occurred at You can access this log from the main menu by pressing F7 Utility → F9 Logs
→ F1 Errors
8 Jog Servo Motors
DANGER Use extreme caution the first time attempting to move the motor they may move
unpredictably Keep a hand on the E Stop
Confirm that axis pairing is set by checking value of parameter 64 before attempting to jog a
paired axis
Using slow jog and a low feedrate about 10% attempt to jog the motors
Try slowly increasing the feedrate while jogging the motors
Now jog each axis and confirm that X jog key moves the X motor Y Jog key moves the Y motor etc
Motors are now Ready to install on the machine tool
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 21 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
10 Homing Setup
Hickory and CNC12 utilize Absolute Encoders that are ‘always on’ reporting the current position even
when the CNC controller main power has been removed/shut down
Key Benefits
• CNC controller Hickory/CNC12 always knows the machine’s exact position in space
• On power up it reads the absolute encoder position—no need for traditional homing
• Works even if the machine was moved while powered off
Homing and Switches
• Eliminates the need for a daily incremental homing program seeking home switches
• Home switches are optional—once a home position is set it’s retained across power cycles
• Limit switches can still be installed but act only as safety limits not for homing
The complete Hickory homing setup procedure can be found in the Hickory Install Manua l Section 6 3
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 22 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
11 Drive Fine Tun ing using Inovance software
Start centroid live tuning
• F1 Setup > F3 Config >default password is 137 > F4 PID > F1 PID Config >F1 Edit
Program
• Edit the test program to move the axis being tested save and exit editor
WARNING With paired axes never command the slaved axis to move only the master axis
• F2 Run Program and press cycle start
• F7 Zoom All to zoom to full extents of plotted values
Note Increase the absolute value of H09 33 "Forward friction compensation
value" and H09 34 "Reverse friction compensation value" slightly to reduce
error spikes at beginning and end of moves
Leave Centroid Live Tuning running and return to InoDriverShop
• Click on "Tuning" from the "Work Space"
• Press "STune" button
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 23 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
• Adjust Rigidity setting using “ ” and “+” buttons until the best compromise of low error and smooth
quiet motor operation is achieved
• Press “End adjustment” button Press “Yes” in warning dialog
• When tuning paired axes set both the master and slaved axis with the same settings
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 24 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
12 Return OUT1 to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 I/O screen to return OUT1 to
its unforced state Use the arrow keys to navigate to OUT1
Press Ctrl Alt F until the underline is removed
b At this point holding brakes should also be returned to the normal state This will be OUT9 for typical
applications with Z brake and stock PLC Navigate to OUT9 and press Crtl Alt F until the underline is
removed
c Be sure to have Set the Proper “Overall Turns Ratio” for each axis Follow TB 36 to determine and fine
tune axis turns ratios
d The machine must be homed for this function Go to MDI and execute an " M26/X/Y/Z " to
temporarily set home if needed
e Jog machine to safe location the Centroid Drive Delay Tuning feature will run the Tuning moves at
the current position!
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 25 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
13 Run CNC12 Drive Delay timing Autotune
Centroid Drive Delay Auto Tune is required for proper servo motor operation The Drive Delay Tune will
verify a commanded move with the actual move data provided by the encoder and calculate a ‘drive
delay’ in milliseconds
Requirements
The Servo motor to machine mechanical ‘gear’ ratio Centroid calls it “overall turns ratio” or “motor
revolution per inch” or “machine linear mm movement per revolution” when in metric is required to be
set properly as well before continuing with this procedure!
Currently software paired axes will not be run by the Centroid Drive Delay Autotune feature If you run it
with an active paired axis it will just skip it and give you a warning However we recommend changing
the axis labels for the paired axis to “N”
a Home position must be set
After any drives have been configured and tuned the Centroid Drive Delay Timing Autotune in the
CNC12 PID menu must be performed again!
Notes
If you would like to Perform the Drive Delay Auto Tune on one axis at a time simply change the Axis
Label to “N” to turn it off
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 26 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Start the Auto Drive Delay Tune by pressing
F1 Setup > F3 Config >default password is 137 > F4 PID > F5 Tune
Make sure that all axes can move the specified amount as seen on the screen without running into any
obstacles or a limit switch And press cycle start
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 27 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
After successful autotune press F1 key to save results
For software paired axis it is required to hand enter a drive delay number in CNC12 using parameters
340 347
A good starting place is to hand enter the same drive delay time that auto tune found for a similar axis
motor/drive/machine axis mechanicals
In the example below Axis 2 Y is paired to Axis 4 W
so we set Parameters 341 Axis 2 drive delay and 343 Axis 4 drive delay to 5 ms
Which is the X value found by Centroid Drive Delay AutoTune seen in Parameter 340
Pitfall Warning if you run Centroid Drive Delay AutoTune with the paired axis Active drive letter NOT set
to “N” the drive delay value for the paired axis will be set to zero and overwrite any hand entered values!
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 28 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
14 Optional Drive Delay fine tuning by hand
For some machines it is desirable to further increase the positioning accuracy of the motor/drive
Centroid’s CNC12 software has a built in scope which allows you to collect positional data while running
a simple test g code program in a repeat loop and observe the real time Absolute position Error of an
axis
In the example below we are running the Scope on the Z axis which is moving up and down over and
over The “ErrAbs” is observed at 0 000008” i n this case there in NO NEED to proceed with the
instructions below
In general If “ErrAbs” is below the fourth decimal place 0 0000x inches then there is no need to do any
further tuning
Image above is of running a live Scope shot of the Z axis After automatic delay tuning was completed
with very little position error orange line from commanded position Green is motor velocity
The orange trace ErrAbs is the position error The readout on the top left tracks the marker in the plot
This marker can be placed by left clicking anywhere within the plot window On the left of the slash is the
error in terms of command pulse counts while the right side of the slash shows the displacement
Assuming the overall turns ratio is set correctly see TB37 for more info the position error on constant
velocity moves should be very small You can mostly ignore the orange spike seen on the direction
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 29 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
changes
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 30 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Hand Drive Delay Tuning Procedure for the case where you wish to reduce the position error by ‘hand
tuning’
1 From CNC12’s main screen press F1 Setup → F3 Config → F3 Parms and navigate to
parameter #340
2 Set the delays for any axes that will be hand tuned to a starter value such as 4 or 5 ms
3 Press F10 to save and then press F4 to enter the PID menu
Press F1 PID Config to enter the PID Configuration menu
4 Press F1 Edit Program to bring up the PID data gathering program in a text editor
PID_collection_moves txt Modify the program to provide a safe range of motion that is large
enough for the axis to accelerate to the commanded rate The feedrate should be the fastest
positioning speed i e the fast jog rate The delay is not critical but it is a good idea to have some
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 31 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
Here are a few examples Edit these files to meet your requirement for start/stop position
feedrate etc refer to the CNC12 Operators manual for further explanation on all G and M codes
5 Save the file and return to CNC12 Press F8 to select the axis you wish to run the data collection
on The axis you are tuning is displayed in the upper left corner
Run the Scope
Press F2 Run Program and then Cycle Start which will start the PID_collection_moves txt
program that we just edited
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 32 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
The axis will start moving and you will likely see a display similar to the following image If not
press F7 Zoom All to automatically zoom to the full extents of the signals
The orange trace ErrAbs is the position error in terms of encoder counts There will most likely
be a large observable error seen since the drive delay timing value that we entered does not
match the Inovance Software tuning of the drive The above figure shows roughly 0 0045 inches
of error This might be good for a router but for a Lathe or Milling machine we would want to do
better
So start the trial and error process of hand tuning the drive delay value
ESC out of the Scope Run and adjust the Drive Delay parameter by 0 25 250 milliseconds one
way or the other and start the Scope Run again Be sure to always run the same program in the
same place on the machine tool when comparing and observing the ErrAbs amount don’t change
more than one thing at a time
In general the Drive Delay is too high if the orange ErrAbs trace is on the opposite side from the
green Velocity trace Correspondingly it is too low if it is on the same side as the green Velocity
trace The goal is to bring the orange ErrAbs trace as close to zero as possible
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 33 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
After a little tweaking below is the same scope shot showing good results of 0 00002” Position error We
are done! Ignore the orange spikes on the direction change and stops – they will not influence anything
6 Press Cycle Cancel or ESC to stop the program when finished
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 34 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
PAIRED AXIS Drive Delay Tuning by hand
The Centroid Drive Delay autotune function is not compatible with software paired axes however good
performance can be achieved by fine tuning the delay and drive parameters by hand
Be sure to complete the paired axes setup as describe above in this document in both CNC12 and the
Inovance software
Keep the axes paired in CNC12 and only command the master axis label Y in our example in the
Drive Delay tune g code program
Do NOT run the PID_collection_moves txt program on the Slaved Axis Label! W in our example
For example we have a Router with a Y axis moving Gantry Y is axis 2 master and is paired to axis 4
W slave
Run the Data collection Scope on the Y axis and observe the ErrAbs just like any other axis described
above
When performing the trial and error process of adjusting the drive delay value make adjustments to the
drive delay parameters for BOTH the paired axis at the same time In our example we would make 0 25
second changes to both CNC12 parameters 341 axis 2 master Y and 343 axis 4 slave W
Paired Axis Syncing/Autosquare Procedure overview
See the Hickory Installation manual for Guidance on how to set the Absolute Home Position for any axis
including Paired axes Chapter 6 3
https //www centroidcnc com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual pdf
Day to day operation
1 Power up the CNC control and press cycle start to execute the absolute encoder homing file
2 Press and release E Stop to synchronize the paired axes
• Re sync is automatic after E Stop release for alignment corrections under 1/64” 0 4mm
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 35 of 36
TB329 Rev4 – Centroid Hickory Inovance SV660N Setup & Tuning
• Corrections greater than 1/64” 0 4mm will prompt for cycle start to initiate re sync
3 The machine tool is squared and ready to work
Public\tech\Technical bulletins\TB329\TB329 centroid_hickory_inovance_SV660N_setup_rev4 odt Page 36 of 36