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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Overview
Setup guide for Delta ASDA B3 E and the ASDA B3A E EtherCAT drives with the Hickory CNC Controller
Examples of commonly used 220V Delta ASD B3A xxxx E parts
Power
Rating W Frame
Size
mm Motor Motor With
Brake Matching
Drive* Encoder
Cable Battery Box Power
Cable Power
Cable
Brake
400 60 ECM B3M
CA0604RS1 ECM B3M
CA0604SS1
ASD
B3A 0421 E
ACS3
CAEA01xx
ASD
MDBT0100 ACS3
CAPW11xx ACS3
CAPW21xx80 ECM B3M
CA0804RS1 ECM B3M
CA0804SS1
750 80 ECM B3M
CA0807RS1 ECM B3M
CA0807SS1 ASD
B3A 0721 E
1000 80 ECM B3M
CA0810RS1 ECM B3M
CA0810SS1
ASD
B3A 1021 E100 ECM B3M
CA1010RS1 ECM B3M
CA1010SS1
130 ECM B3M
EA1310RS1 ECM B3M
EA1310SS1 ACS3
CREAA1xx ACS3
CRPWA2xx ACS3
CRBRA1xx
* any ASD B3 xxxx E parts can be used but do not support the Delta STO feature Safe Torque Off
XX in cable part number is length in meters and is one of 03 05 10 20
There are more working combinations not listed Refer to Delta ASDA B3 series catalog for more details
https //downloadcenter deltaww com/downloadCenterCounter aspx?DID=19246&DocPath=1&hl=en US
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Hickory CNC Controller
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 HICKORY → Ecat1616 i/o expansion → ENCEXP13 encoder port expansion → 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
• Delta ASD B3A E TB330 This document
• Delta ASD B3 E TB330 This document • LS Electric iX7NH TB335
• LeadShine EL8 EC TB324
• Leadshine EL7 EC TB323
Required software
• CNC12 Centroid CNC control software
◦ https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
• Delta ASDA Soft V6 5 0 0+ Delta ASD A3 B3 E3 drive setup and tuning software
◦ https //downloadcenter deltaww com/downloadCenterCounter aspx?DID=39428&DocPath=1&hl=en US
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Supporting documents
• HICKORY DIY Installation Manual
◦ https //www centroidcnc com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual pdf
• Hickory Delta Motor/Drive Bench Test Schematic #S15232 HICKORY Delta ASDA B3A Bench Test Setup
◦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=15232
• Complete Typical Hickory System Schematic #S15231 Mill 220VAC HICKORY Delta ASD B3A Drives Generic
Inverter VFD Carousel ATC schematic
◦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=15231
• ASD B3 Series AC Servo Drive User Manual 2023 10 25
◦ https //downloadcenter deltaww com/downloadCenterCounter aspx?DID=19545&DocPath=1&hl=en US
Setup and configuration procedure outline for Delta EtherCAT drives for use with the Hickory
CNC Controller
1 Follow the Hickory Installation Manual up until you finish Section 5 7
2 Using the Delta ASDA Soft software program the Delta drive parameters for use with Hickory
3 Bench Test Motor Movement with the Delta software
4 Follow the Hickory Installation Manual starting with section 5 8 and until you finish section 7 1
5 Use Delta AutoTune to tune the Delta drives to the machine axes
6 Use CNC12 drive delay AutoTune to automatically configure the drive delay
7 Perform Drive tuning by hand for paired axes or to more finely tune the drives
8 Continue with the Hickory Installation manual from Section 7 3
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Program Delta drives for use with Hickory
The Delta drives can be programmed at just about any step in the Hickory setup process but generally you’ll want to have
completed up through Section 5 7 of the Hickory install manual before following this section Or at the very least have gotten
to the point where the drives should be bench tested with the CNC12 software
Prerequisites
The following items are needed
• Computer with Delta ASDA Soft installed Version 6 5 0 0 was used for this document
➔ Download at https //downloadcenter deltaww com/downloadCenterCounter aspx?
DID=39428&DocPath=1&hl=en US
• USB to Mini USB cable – connected between the PC and the Delta drive you wish to setup
➔ Note that the drives do not ship with one of these USB cables
➔ Parameters can be set without a USB cable but connecting to them with the ASDA Soft software significantly
simplifies the process and allows for far better troubleshooting
Delta drive parameters for use with Hickory
Step by step instructions for setting these start on the next page
P Description Setting Notes
P2 008 Special parameter write in function 10 Factory Reset power cycle after writing this
P1 001 Input for control mode and control
command 0x000C Must be changed to 0x0000 for tuning and 0x000C for
EtherCAT operation Takes effect after power cycle
P1 044 E Gear numerator 16777216
P1 045 E Gear denominator 1048576 Takes effect after power cycle
P2 010 DI settings 1 0x0100
P2 011 DI settings 2 0x0100
P2 012 DI settings 3 0x0100
P2 013 DI settings 4 0x0100 This change will let AL013 clear on next alarm reset or
power cycle
P2 066 Special bit register 2 0x0034
P3 012 Communication support setting 0x0100 Store parameter changes to nonvolatile memory
P2 069 Absolute encoder 0x0001 Requires power cycle to take effect Do this before last two
P2 008 Special parameter write in function 271 Unlocks P2 071 for editing Edit P2 071 immediately after
writing this change
P2 071 Absolute position homing 0x0001 Sets absolute origin position
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Drive parameter configuration process
• Launch the Delta ASDA Soft software
• You will see the following screen
• Confirm B3 or B3A drive is selected
• Confirm correct serial port is selected
• Press “Add”
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• You will see this window after successful connection
• You may click "Read Servo Information" to see drive and motor serial numbers
• Close the "Device Information" window to complete the connection setup
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• You will now see the following screen
Note You may see AL013 on initial startup or after performing a factory reset of the parameters This alarm code is safe to
ignore and will be cleared in the upcoming steps
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• Maximize the Parameter Editor and press the "Read Parameters" button
• Press "OK" when reading parameters is completed
➔ It is recommended to reset the drive to factory defaults before continuing To reset navigate to the P2 XXX
tab of Parameter Editor and change the value of P2 008 to 10 Leave the P2 008 field selected and press
ENTER to write the change to the drive
➔ Click on the box that says "ON LINE" to disconnect the software from the drive It will now say "OFF LINE"
• Power cycle the drive
• Reconnect the software to the drive by clicking the "OFF LINE" box
Note Press the ENTER key to write each parameter change to the drive An asterick next to the parameter value means that
the change is pending in ASDA Soft but not written to the drive
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Initial parameter setting
• Read in all of the parameter values again using the "Read Parameters" button
• Navigate to the tab labelled "P1 XXX"
• Confirm that P1 001 is set to the value of 0x000C
• Set P1 044 to 16777216 then press ENTER
• Set P1 045 to 1048576 and press ENTER
➔ P1 045 will take effect after power cycling the drive which we'll do shortly
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• Next open the tab labelled "P2 XXX" and change the value of P2 010 P2 011 P2 012 and P2 013 to 0x0100
➔ Don't forget to press ENTER after changing each parameter's value
➔ This will clear AL013 after the next reset by removing the drive's input assignment for "E Stop"
• While in the "P2 XXX" tab change P2 066 to 0x0034 and press ENTER
➔ This prevents errors when releasing the E Stop switch
• Open the P3 XXX tab and change the value of P3 012 to 0x0100
➔ This will store certain parameter settings in nonvolatile memory Refer to the drive manual or double click the
"Description" field on the right for more details
• Press the "Write Parameter" button to the right of the "Read Parameter" button Select the "Write All
Parameters batch Write " option and press "OK" This will write any pending parameter changes to the drive
• Disconnect the drive from ASDA Soft by clicking the "ON LINE" button then power cycle the drive and reconnect by
clicking "OFF LINE"
• Read in the parameter values by pressing the "Read Parameter" button Confirm that all the changes were saved
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Absolute encoder parameter setup
• Navigate to the "P2 XXX" tab and set P2 069 to 0x0001 and hit ENTER
• Click "ON LINE" to disconnect the drive from the software Power cycle the drive
• Click "OFF LINE" to reconnect the drive to ASDA Soft Read in the parameters by pressing the "Read Parameter"
button You will see an alarm code AL06A This alarm indicates that the origin point is not established and will be
cleared by the next few steps
• Navigate to the "P2 XXX" tab and set P2 008 to 271 and press ENTER This will unlock P2 071 for editing
• Set P2 071 to 0x0001 and press ENTER This will set the absolute encoder system origin point and clear AL06A A
good position to set the absolute origin is near the axis home position When configured for Hickory the Delta ASD
B3A drive absolute system can do +2048 and 2047 revolutions from the absolute origin before overflow
• Press the "Write Parameter" button to the right of the "Read Parameter" button Select the "Write All
Parameters batch Write " option and press "OK" This will write any pending parameter changes to the drive
• Press "ON LINE" to disconnect the drive from ASDA Soft Power cycle the Hickory and drive
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Bench test motor jogging with Delta software
For testing on the bench wire up the Delta drives according to schematic #15232
Or use the complete system schematic #15231
Drive parameter P1 001 will need to be changed to command motion from the drive Set P1 001 to 0x0000 Power cycle the
drives and Hickory
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay we’ll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 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
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Bench testing motors with Delta software
With CNC12 running and OUT1 forced on go back into the ASDA Soft software and click on "OFF LINE" to reconnect the
drive Then open "Inertia Weight Estimation" and press "OK" at the bottom of the menu
• Press "Servo On" then "OK" in the confirmation dialog
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• Select a safe jog speed and press "Download" to write the setting to the drive
• Press the clockwise and counterclockwise arrow buttons to jog the motor at the selected speed
• If everything is working correctly you should have motion from the servo It will be smoother after tuning is completed
Press "Servo Off" and press "Exit" to close the Inertia Estimation window when complete
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Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to it’s default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
Once finished bench testing the motors with the ASDA Soft software set P1 001 back to 0x000C and power cycle the drive
Continue where you left off with the Hickory install manual until you’ve completed section 7 1
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Delta Auto Tuning an axis motor to the machine
Once you’ve reached Section 7 2 of the Hickory install manual you’re ready for tuning of the Delta drive s At this point the
drives and motors have been bench tested with the ASDA Soft software and CNC12 The motors have also been installed on
the machine and are ready to be tuned to the axes
*** For now Skip this drive tuning step on software paired axes DO NOT command motion on paired axes from software
other than CNC12 when the motors are coupled to the gantry/other paired axis
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay we’ll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 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
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Delta drive software Auto Tuning with stimulus from the drive
• Change P1 001 to 0x0000 Power cycle the drive
• Return to ASDA Soft and click on "Auto Tuning" in the left sidebar
• Select "Drive Motion Command
from Drive" in the next screen
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• Click "OK" to proceed
• Press "Servo On" then "OK"
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• Choose a safe jog speed and
press "Download" to write it to
the drive
• Use the clockwise and counterclockwise
arrows to move the axis to safe positions
several motor revolutions apart Press the
"Position 1" and "Position 2" buttons to save
the positions as the travel limits for the tuning
process
• Optional Make any adjustments to the
desired tuning velocity and press the big
"Download" with green arrow
• Optional Make any adjustments to P2 105
Automatic gain adjustment level 1 and P2 106
Automatic gain adjustment level 2 and press
the adjacent "Download" button Refer to Ch
5 4 and 5 5 of the Delta ASD B3 manual for
information on these settings
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
• Press "Start Moving" to start the
axis motion
• Then click "Next" and "OK" to
confirm The tuning process will
now begin
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• You will see this screen while
auto tuning is in operation
• After some time tuning will be
completed Click "OK" to
proceed to the results
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• Click "Update" to save the autotuning results to the drive
• Return to the parameters list
press "Read Parameters" and
confirm the new values are
stored
• Change P1 001 back to 0x000C
then hit enter This will return the
drive back to EtherCAT mode
after a power cycle
• Power cycle the drive and
Hickory
Repeat this setup procedure from initial connection to ASDA Soft for all drives that do not control software paired axes
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Sample paired Y axis drive tuning
There are two methods for Tuning software paired axes
1 If you are lucky enough to have another axis that has the same size motor/drive as the paired axes uses and the axis
kinematics are at least somewhat similar similar overall turns ratio similar weight gantry axis / 2 there is a crude but
sometimes effective way that is often used to get you in the ball park Simply copy the Delta par file from that single axis
drive and install it on both the paired drives For example on a typical router the gantry axis is the Y axis which has two
drives/motors Y1 and Y2 and one motor on X In this case copy the X par file to Y1 and Y2 drives While crude it seems to
work most of the time
Here is how
a Complete the above tuning procedure for the most similar non paired axis
Leave the drive powered up and ASDA Soft connected
b Press "Read Parameter" in the Parameter Editor to load in the currently set values from the drive
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c Press "Save Parameter As Files * par " in the Parameter Editor and save the parameter file somewhere you can find
it again
d Disconnect the X axis drive from ASDA Soft by clicking the "ON LINE" button on the toolbar
e Then unplug the USB cable from the X axis drive
f Plug the USB cable into the Y axis master drive and connect to it in ASDA Soft
g Open the Parameter Editor again and click "Open Parameter File * par " to bring up a file browser
h Select the X axis parameter file you saved previously and press "Open"
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i This will read the file into the Parameters Editor Press the "Read Parameters" button and then select "Write All
Parameters batch Write " and press "OK"
j Press "OK" after parameters are written to the drive
k Disconnect the drive from ASDA Soft using the "ON LINE" button and unplug the USB cable
l Plug the USB cable into the slave Y axis drive and connect to it in ASDA Soft Repeat steps g through k for this drive
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Delta's paired axis tuning guidance
2 Delta's guidance below on how to tune software paired a xes
It's always better if you know what the inertia is of each axis Even a close approximation is good to start with
Always make sure the gantry motors are working together in the same direction
a Disable uncouple one of the two motors this is assuming one motor can move the axis even slow with gentle
acc/dec With one motor coupled and manual mode for tuning selected use the inertia estimation function for P1 037
note this can’t be done in EtherCAT mode so set P1 001 to 0x0000 and power cycle
b Switch the servo drives to EtherCAT mode P1 001 to 0x000C requires power cycle
c Start manual tuning by jogging from CNC12 make sure the speeds are slow with gentle acceleration / deceleration
Start at a low bandwidth like 10Hz move and test just achieve stability there is no need to trace
d Enable the 2nd motor and before coupling it use jog operation of your control to make sure it is moving in the correct
direction
e Load the tuning parameters from the first servo drive to the second servo drive However cut the calculated inertia
ratio P1 037 in half for both servo drives
f Couple the second motor
g Jog and trace both operating as a gantry
h Make the same minor adjustments in the bandwidth in both drives using manual tuning only need to adjust
bandwidth trace to achieve your desired following error Test multiple speeds
Assuming the machine mechanics are identical only inertia is different use the inertia estimation function on the axis that is
not a gantry note this can’t be done in EtherCAT mode so set P1 001 to 0x0000
a Auto tune the axis that is not a gantry
b Once you have the inertia ratio of the axis that is not a gantry calculate the real inertia of the mechanics of that axis
c Switch the servo drives to EtherCAT mode P1 001 to 0x000C requires power cycle
d From the non gantry axis approximate the inertia for the entire gantry axis Then cut that value in half; this is your
starting point for each of the gantry axis
e Calculate the inertia ratio based on the gantry axis motors Load the value into the inertia ratio P1 037
f Make sure the two motors of the gantry are moving in the correct same direction
g Use the parameters tuning only for the non gantry in the gantry axis
h Jog from your control and trace both operating as a gantry
i Make the same minor adjustments in the bandwidth in both drives using manual tuning only need to adjust
bandwidth trace to achieve your desired following error Test multiple speeds
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Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to it’s default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
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Run CNC12 drive delay timing Autotune
Centroid drive delay AutoTune 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 ” “revs/inch ” or “mm/rev” when in
metric is required to be set properly 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”
The machine home position must b e set
After any drives have been configured and tuned with the Delta software or any time you have changed any Delta parameter
settings on the drives s the Centroid drive delay timing Autotune in t he CNC12 PID menu must be performed again!
Notes
If you would like to perform the drive delay AutoTune on one axis at a time simply change the axis labels of the axes you're
not tuning to “N” to turn them off
Drive delay tuning on paired axes must be done by hand More information on this can be found after this section
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Start the drive delay AutoTune 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
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After successful AutoTune press F1 – Save to save the results
For software paired axes 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!
Further hand tuning of the drive delay amount and Position Gain in the Delta software is described below
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Drive delay tuning by hand
For some machines such as those with paired axes it is desirable to enter and tune by hand the drive delay 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 00008 ” In 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
The 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 The green line 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 To 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 Tech bulletin 37 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 changes
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Paired axis drive delay tuning by hand
The Centroid drive delay AutoTune function cannot be run on 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 described in the Hickory installation manual
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 slaved
Run the Data collection Scope on the Y axis and observe the ErrAbs just like any other axis described below
When performing the trial and error process of adjusting the drive delay value covered in the following section make
adjustments to the drive delay parameters for BOTH of the paired axes at the same time In our example we would make
0 25 ms changes to both CNC12 parameters 341 axis 2 master Y and 343 axis 4 slaved W
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Hand drive delay tuning procedure
1 From CNC12’s main screen press F1 – Setup → F3 – Config default password is 137 → 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 5 ms
3 Press F10 – Save and then press F4 – PID → 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
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Here are a couple examples Edit these files to meet your requirement for start/stop position feedrate etc refer to
the CNC12 Operators manuals for further explanation on all G and M codes
5 Save the file and return to CNC12 Press F8 – Change Axis to select the axis you wish to run the data collection on
which is displayed in the upper left corner of the screen
Run the Scope by pressing F2 – Run Program and then Cycle Start which will start the
PID_collection_moves txt program that we just edited
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 Delta 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
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
6 Now 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 340 347 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
7 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
8 Press Cycle Cancel or ESC to stop the program when finished
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TB330 Rev13 – CNC12 Hickory De lta ASD B3A E and B3 E Setup & Tuning
Optional drive delay fine tuning
As the CNC12 AutoTune will set the drive delay to the best possible number within 0 25 ms this procedure is only necessary if
you wish to even further fine tune the drive delay
1 Navigate to the PID Config screen as we did in the previous section by going to F1 – Setup → F3 – Config default
password is 137 → F4 – PID → F1 – PID Config
2 If needed edit the PID_collection_moves txt program for the axis you want to tune by pressing F1 – Edit
Program and don’t forget to save the changes
3 Press F8 – Change Axis to select the axis you wish to run the data collection on and then press F2 – Run Program
and then Cycle Start to start the PID_collection_moves txt program
4 Open ASDA Soft and connect to the drive being tuned Open the Parameter Editor and navigate to P2 002
5 Increase P2 002 until the position error shown on the CNC12 Scope during constant velocity moves is as close to
zero as you can get it It is recommended to write the parameter change to the drive when the motor is not moving
Increment by 10 or 20 until the orange trace is close to zero If it is above increase by 1 percent If it is below zero
decrease by 1 percent
6 If you are unable to achieve satisfactory results try adjusting the delay in CNC12 by 0 25 ms and adjust position feed
forward gain in the ASDA Soft software to match
7 Press Cycle Cancel or ESC to stop the program when finished
Once you’ve finished tuning the drives continue with the Hickory install manual where you left off
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