Special Functions on ASD-A2

Special Functions on ASD-A2
To Audience
Advance level
This slide will teach some special functions on
ASDA-A2. For better understanding the content, the
new PR of ASDA-A2 should be known.
Feb. 21, 2011.
The Contents
Full-closed Loop Control
The background knowledge and parameter settings.
Gantry Control
The background knowledge and parameter settings.
Password Protection
The parameter settings.
Full-closed Loop Control (1)
Why Full-closed Loop Control ?
Flexibility and backlash problems of machine can be
fixed. The accuracy of positioning will be guaranteed.
Full-closed Loop Control (2)
The Wiring
The signals will go into
servo drive via CN5.
Reference ASDA-A2
manual for details. The
full-closed loop control
function is operated
under PT mode only.
Full-closed Loop Control (3)
The Parameter Set (1)
P1-72: How many pulses will be sent from linear
encoder referring one turn of the servo motor.
P1-73: The feedback pulse difference between main
encoder and linear encoder for the same distance to
trigger alarm.
P 1 -73 : ABS ( # A - # B ( to the same base) )
Full-closed Loop Control (4)
The Parameter Set (2)
P1-74.A: Enable full-closed loop control function.
P1-75: The time constant is to reduce the sensitive of
liner encoder signal while settling period.
Full-closed Loop Control (5)
The Parameter Set (3)
P2-65, bit5: Enable detection of wire disconnected
when P1-74.A=1 (full-closed function activated).
Full-closed Loop Control (6)
Check the Pulse Direction (1)
Both of the pulse trains should have the same trend,
positive or negative trend. If not, set P1-74.C=1 for
reversing the direction of pulse from linear encoder.
Full-closed Loop Control (7)
Check the Pulse Direction (2)
The pulse trends are correct on this slide after
P1-74=0x100 set for reversing the pulse
direction of linear encoder.
Full-closed Loop Control (8)
Example of P1-72
If the specification of your mechanism already known,
the P1-72 can be calculated directly.
Full-closed Loop Control (9)
Use the PC Scope to Measure P1-72 (1)
Set P1-44=1 and P1-45=1, there will be 1280000 PUU
for one turn. Use this value as base to count linear
encoder. It is easy to measure from PR mode by a
simple PR.
Full-closed Loop Control (10)
Use the PC Scope to Measure P1-72 (2)
A long distance with a proportional operation, the
P1-72 can be found out from.
Full-closed Loop Control (11)
Alarm 40
The alarm 40 will be raised when the difference of
feedback pulse numbers from main encoder and
linear encoder exceeding the value set in P1-73 .
Full-closed Loop Control (12)
Change Polarity
P1-74.C can be set for an opposite polarity of linear
Full-closed Loop Control (13)
P1-75 Full-closed Loop Low-pass Filter Time
This parameter will help
a mechanism will less
rigidity to settle down
P1-75 is high for
mechanism with less
P1-75 is low for
mechanism with higher
Full-closed Loop Control (14)
DI=0x0B Full-closed/ Half-closed Switch
This DI works as a switch to change the system
between full-closed and half-closed when P1-74.A=1.
Full-closed Loop Control (15)
The E-Gear Under Full-closed Loop Control
The E-Gear will be referred to the command resolution
of linear encoder instead of main encoder under fullclosed control function.
Gantry Control (1)
The Synchronous Movement
For the application requesting two axes moving
synchronously, the gantry is a good solution.
Gantry Control (2)
Delta Solution
This is an awesome solution. The wiring is very simple.
The pulse command of host control is shared by both
of the two axes. Separate DI/O signals. The monitoring
signals are also separate. This function supports PT
mode only.
Gantry Control (3)
The Pulse Direction
Follow the same procedure in full-closed control to
measure the pulse trend in both of the axes. Make sure
the trend on both of the axes should be the same.
Gantry Control (4)
Monitoring Signal
The limit of port CN5 should be considered with the
formula below. A safety coefficient 0.9 is used.
Gantry Control (5)
From Command to Evaluate
The command frequency can also be used to evaluate
Gantry Control (6)
The Protection of Miss-Synchronization
The parameter P1-73 can be set for the protection. This
parameter should be set based on the real mechanism
Gantry Control (7)
The Switch of Gantry Function
The gantry function is enabled by P1-74.A=2.
Gantry Control (8)
The Inertial Ratio
Use host controller to control the gantry mechanism
moving forward and backward at a speed above 200
rpm and read from the panels for their inertial ratio
Gantry Control (9)
Test the Maximum Bandwidth
Use the PC software
to test the maximum
bandwidth of your
system. Keep
increasing the
bandwidth until the
sound coming out
from the motor and
reduce the bandwidth
until the acceptable
volume of noise
Gantry Control (10)
The Control Skeleton of Gantry
There is a new feature call Synchronous Controller for
gantry function. The controller will share the maximum
bandwidth with loop controller.
Gantry Control (11)
The Limit of Maximum Bandwidth
It is better to turn the summation of loop gain and
synchronous gain not exceeding the maximum
Gantry Control (12)
More on the Bandwidth
Both of the two drives should be set to the identical
bandwidth of loop gain and synchronous gain. The
inertial ratio could be different but the bandwidths
must the same.
Gantry Control (13)
More on Synchronous Bandwidth
At the moment P2-57 is put, the servo drive will
calculate P2-54~P2-56 automatically.
Gantry Control (14)
The Distribution of Maximum Bandwidth
The position displacement tolerance of system is a
reference for distributing the bandwidth.
Gantry Control (15)
The Difference of Mechanism
Once the mechanism exists difference, there are some
parameters changed to fix this problem.
Password Protection (1)
The Range of Protection Parameter
The password, when enabled, will keep group 5, 6, and 7
from reading except the parameters marked with ( ■ )
whose contents will be reset for every power-on. It is
write permit.
Password Protection (2)
The Range of Protection Data Array
The range of password protected data array can be set.
Password Protection (3)
The Exception Window from Protection
The mapping parameters can be assigned to read
parameters from protection area when the password
protection enabled. Those parameters should be
assigned well before password set.
Password Protection (4)
The Macro Instructions
P5-94=Range of data
Correct error
according to
error message.
P5-96 =Password
Password = 1~16777215
Correct error
according to
error message.
P5-97=0x1003 ?
P5-97=0x1004 ?
Password protection
Error Messages
Password protection enabled already.
Double confirmation error, P5-95 ≠ P5-96.
Password should be in range of 1~16777215.
Data array selection in P5-94 should be 0~7.
Password protection
Error Messages
Password protection disabled already.
Password should be in the range of 1~16777215.
Wrong passwords entered more than 20 times, the
protection function cannot be disabled.
The available number to try for unlocking the password.
Password Protection (5)
Use PC Software to Set Password
It is an easy way to set password. Highly recommend
always use PC software for password function.
Password Protection (6)
Do Not Use Parameter Editor
The parameter editor will retry its writing to servo
drive 3 times for every write and this will cause the
wrong password test number reducing from 20 times
to 7 times.
Password Protection (7)
What if 20-times error try for unlocking reached?
The parameter group 5, 6, & 7, and data array will be
kept from reading forever. DELTA DO NOT HAVE A
UNIVERSAL KEY TO ULOCK IT. The servo can keep its
status for working. If P2-08=10 is put, the factory default
parameters will be restored.
Thank You
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